AJ, there is no such requirement in any state that I'm aware outside of foster/state care situations.
Seriously - parents can retain primary custody having their TEENS sleeping in the bed while the parent sleeps in a sleeping bag in the same room.
Now sleeping in the same bed might be an issue once the child gets older. But even then, many parents can be the CP with their 6 year old sleeping in the same bed.
Heck my 7 year old grandchild has crawled in with gramma and grampa (when he stays over) if he's had a bad dream.
No law against it - in any state.