A.M.
It really sounds like you're doing what you should be. Just try to be more consistent during the overnight. Certainly, at bed time, you are. During the night she really should be put back into her own bed.
Our 4 year old sometimes wakes up before we are all ready to, goes to the bathroom and comes to our room. If it is any time before 5, she is automatically put back in bed. For some reason, it sticks better if my husband does it versus me. If it is after 5, then she really could be up for the day and we let her join us in bed--which means that she will move around enough to thoroughly wake us.
Any way you look at it, she is bound to outgrow this sooner rather than later. Good luck.