This is objectively within the bounds of "normal" human experience. It's seen in primates and other mammals too.

Sleeping in the same bed as your family was the norm for a long while, across many cultures. It was also perfectly normal for noble to sleep in the same bed as some of their staff, or for merchants or other traveller to share a bed while on the road.

Most people in many western cultures would probably find it weird, but they're the weird ones for needlessly sexualizing the act of sleeping.