I does sound like manipulation -- kids are sooo good at that! There are a lot of things here that don't seem right and I may be off-base on some of it. First of all, there is NO reason a big girl can't put herself to sleep -- growing pains or no. If seeing a counselor would help, that's not a bad idea. In fact, that might be a great idea since you think that impending middle school career anxiety may be part of the problem. Second, it makes me uncomfortable that your daughter is getting in bed with her father every night. Not that I'm accusing him of any wrongdoing or any wrong thoughts! But, she's entering womanhood if not now VERY soon(who am I kidding - it starts at 9 nowadays) and I believe it's time for her to start to understand about appropriate touching/sleeping arrangements/etc. Third -- trips to her room. Was there Ferberizing when she was a baby? I don't know how old that method is. I'd maybe talk to her pediatrician first (not in front of her -- not wanting to humiliate her!) but I'd consider it, I think. Trips to her room might be the rewards she gets for crying. If you just let her fuss, cry, etc. she'll eventually wear herself out. I think it would be very hard to do but, within a week, I'd guess, she'd be on a better routine -- in time for school!
I'd definitely talk to her pediatrician and maybe a child psychologist if the pediatrician thinks that's the way to go. I'm sorry your daughter has anxiety issues. Adolescence is so hard and I'm convinced that the middle school years are the hardest! Of course, you have a 26-year-old: you've done this before, huh?
Anyway, good luck! Keep us posted. You know, if your 26-year-old is a big sister, she may be a big help...