10 yr old still sleeping in our room

I need advice. My son, who is 10, still sleeps in a pallet on the floor in my and my husband's bedroom. I have no problem with it because it makes him feel safe and I know, eventually, the time will come where he wants to go to his own room. And don't worry, there is no hanky panky - we make other times for that. Anyway, he also sleeps in the bed with me when my husband works his shift at work, which is every third night(firefighter). My son is such a sweet child and very caring. He has attempted to sleep in his room, at my husband's urging, but got scared, and came back to the pallet (I had told him beforehand that he could if he got too scared). Well, what I'm wanting, is other parents thoughts on our situation. Am I hurting my son by not urging him to move to his room, since he is 10? Or, should I not worry because he will eventually cut the cord completely on his own? My husband and my parents have made comments that they are concerned, which is why I'm even seeking others thoughts. I'd let him sleep on a pallet the rest of his life if he wanted, lol. Thanks in advance! via /r/Parenting http://ift.tt/2urTzwj