B.W.
Honestly ? If you don't wake up, don't do anything about it. She'll outgrow it. But obviously she feels safe and warm in your bed.
If she wakes you, one of you could join her in her bed until she or both of you fall back asleep. But, frankly, what's it hurting to wake up and discover she's in your bed ?
(Our kids slept with us until they were weaned, then they went to bed in their beds, and joined us if/when they awoke. We both worked FT and neither of us had the energy to do anything else. In our bed, we could sleep, or at least rest, and sooner or later the little one would fall asleep out of boredom. :-) As teens, they obviously do not sleep with us, but they know our door is always open to them. So if there's a problem at night, they have no qualms about coming in to wake us. And sometimes, they sleep together (both girls) after the younger one has had a nightmare. It's really neat to see the emotional team they have become.