There are So many different approaches and experiences with this.
Your baby seems to sleep fine, with you. I assume she also naps during the day too?
Each baby is different, and has different needs and personalities. For me, I gaged sleep arrangements, per their own needs and such. I never let them CIO....that is just me.
Each of my kids were different. My girl was attached to me like velcro and so I co-slept with her and I was also still breastfeeding...until I got pregnant with my second baby. Then she weaned herself from me and breastfeeding. It was MY choice to let her self-wean. Within that time... we did transition her to her own toddler bed, when she was about 2.5 years old. Still, I had to sleep with her for her to fall asleep. She is less independent than my second child, and "needs" company and Mommy when she sleeps. Now though, from about when she was 3 years old, and now at 5 years old, she is completely fine falling asleep on her own. Although, she will still sleep with us sometimes. We are fine with that.
My 2nd baby, now 21 months old.... was more independent. I breastfed him, also let him self-wean, and he was done with my breastfeeding by 1 years old. He sleeps in the crib just fine...but in the beginning I did co-sleep. My son is more adaptable, and transitions to things fine. Now, IF he wakes up during the night.... I will pick him up and co-sleep with him. BUT, when he goes to bed, I put him in his crib first. He is a good sleeper, and wakes less than my girl did....and this works for him.
We all do sleep in the same room however and have an extra futon bed in our bedroom. We don't "force" them to sleep by themselves and if they want to sleep with us, we let them.
Both my children, do get enough sleep at night. And they nap during the daytime. My son naps morning and afternoon. My girl even at her age, naps afterschool for 2 hours.
With both children, we co-slept at various phases and their needs, as I was breastfeeding, and it's just easier that way. And during their night feedings as well, getting up for that and getting them back to sleep, co-sleeping was just easier, and they like the comfort.
A child will eventually sleep on their own, or in their own bed... although each child transitions differently, with or without clingy-ness or fuss.
For us, we just went according to our child's needs, and sleep styles. It differs with each child.
The reason for some, to get them out of co-sleeping and to sleep separately, is to get them to self-soothe and yes, LEARN to sleep on their own. Some babies don't self-soothe very well, or resist it because they have Mommy right there (like my daughter), and they want the closeness. Some babies (like my son) will just adapt well and still sleep.
Whichever method you choose... their will be a transition for the baby to adjust to. It will either be easy or impossible.
When we transitioned my girl to her own room and her own bed, when she was a toddler.... it took time. I would still have to stay with her until she fell asleep, then sneaked out of her room. But I would explain to her, that after she falls asleep, Mommy will go. Sometimes, by this age, it's a little easier, and they cognitively can understand and are more capable. BUT, if she still wanted to sleep with us, we allowed that. We had no problem with that.
Co-sleeping can go on for years. It is up to you, at what point you want her to sleep on her own. There will be crying probably, because it is a big change for them. But, at some point, they will need to learn to self-soothe.
As far as baby getting enough sleep..... Your baby sleeps 10 hours with 2 night feedings. That seems fine. I am the type, that did not with-hold feedings if my babies go up at night. I nursed on demand throughout their baby-hood. At some point, they will sleep through the night... each baby has their own pattern at which they come to that point. My girl never slept through the night until she was 2-3 years old. My son on the other hand, slept through the night from about 16 months old. But, they do nap during the daytime still.
Here is a link on how many hours of sleep a baby needs:
http://www.babycenter.com/0_how-much-sleep-does-your-chil...
Well, I could go on rambling more, but I should stop now. I don't know if this helped, but just sharing what I have gone through with my kids.
Good luck and take care,
~Susan