This is very common. It is difficult to be sure what started your daughter's sleeping problem but it may have been some separation anxiety. Now she has become used to sleeping in your bed or someone else's bed. This obviously has to stop. You say that you are tired and at your wits end.Keep up your set bedtime routine and read to her before she falls asleep in her own bed. Then if she wakes up you will have to use the 'controlled crying method' [see Google] This is very hard on the nerves but if you do not give in it will work. Do not make the mistake of allowing her back into your bed while you are trying this method.
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