I grew up with the family bed thing, and I'se turned out okay, depending on who you ask...
There
were problems for my family, and I do think osso is right that it can be a problem for the parents at some point, due to the lack of closeness for them...but I think it only became a problem for my parents because they were simply awful at communication.
As far as my mental health, it did get weird for me when I needed to get my own space as I got older, but that was just a weird dynamic in that situation (long story); you wouldn't have that problem.
Anyway, I'm just chiming in to add to the it's-really-not-weird-or-that-unusual side of the thing, just to be sure you don't feel singled out, Boomerang, although I doubt you need the moral support-- but just in case.