J.
I never did the family bed but my daughter had a stage where she loved sleeping in my bed. (It all started when she slept in my bed because she was sick.) I made a deal with her - if she stayed in her bed during the week, then she could take her Saturday and Sunday afternoon nap in 'mommy's big bed'. If she went a few weeks of not getting out, then we'd have a 'sleep over' where she could sleep in my bed on a Friday or Saturday night. This actually happened about once a month. (It helped that my husband sleeps in a separate room due to snoring!)
I never did the gate because her bedroom is separated enough from the TV/computer area that I wouldn't hear her if she needed to get out prior to me going to bed.
Good luck,
J.