Always the answer is to do what is best for you and your family.
What is best for our family is to a mix of crib and bed-sharing. So our babies have always napped in their cot, and started the night out in their cot, and then at some point come into our bed.
I have zero interest in letting my baby CIO, or in standing over their cot settling them to sleep at 2am (although I do give putting them back into their cot a go, and if they settle quickly then great), so bringing them into our bed at some point when they wake means that we all get the most sleep.
i LOVE the snuggles with my baby. I LOVE feeling their little body relax against me and knowing how secure they feel knowing I am right there. I LOVE waking to a little baby wriggling and playing around the bed.
I see it as a really short phase of parenting and it's a time you simply can't get back.
Sometimes I do miss the space with my husband, but we ensure we get snuggles and intimacy at other times and in other ways. I know for some couples the marital bed is a really important space, and I don't think there is a right or a wrong to this. If it's the best/easiest/most important way for you and your husband to stay connected then that's an important part of your family's equation.
We bedshared with DD1 from around 4mths on, and transitioned her back to her own bed around 18mths. She was doing great STTN in her own bed until we had DD2, then around 2mths ago we got her STTN again in her own bed, without any issues.