Learn to go back to bed on her own.
We've done by white noise. Lights on, on, lights off. Taught her to sing a song, count to 50, say a prayer. We've tried sitting on the floor next to her bed. Melatonin. Doctor said benadryl in is okay to help her sleep and get into a routine. That helps but the routine never develops, she keeps getting up I can't remember everything we've done.
No matter what we do, for weeks and weeks, months and months...it always ends with her getting in our bed and she does not sleep still, and always ends up on top of the blanket. We do not sleep well.
Tonight was extra bad. I've been up for two hours. Sat next to her bed and sang to her. She read a book to herself for 30 min. Traded off with the wife. She keeps coming in our room. She says she just wants to be with a grown-up.
I finally was fed up and locked our door ten min ago She's now quiet and in her room, I think she was too exhausted to put up her usual fight