Pianistimo, you are right about needing to find a balance. It can be easy to get either Sears or Ezzo out of balance: Sears - moms experiencing burnout; Ezzo - moms (and dads) - experiencing blunted responsiveness to their babies' needs. And with toddlers and older, the risks of going too far either way remain, if parents are not mindful: with Sears (AP), parents can fall into permissiveness, though Sears clearly teaches parents are in authority; with Ezzo, parents can fall into overcontrolling and punitive habits, though Ezzo teaches flexibility is needed at times. I will admit that a child who is temperamentally resilient or easygoing will do fine emotionally with either Sears or Ezzo, though with Ezzo, the risk is higher that baby's nutritional needs will not be adequately met (see link in previous post).
For babies, I tend to prefer AP/Sears because I feel it more closely follows Jesus' teaching of "unto the least of these", and because it has helped me ensure my babies get all the nutrition they need (because I rely on their hunger cues). Sears wrote a wonderful book, unfortunately now out of print, titled
The Ministry of Parenting Your Baby, that explains the former concept beautifully.
I must say too that the Sears/Kurcinka approach (Kurcinka wrote
Raising Your Spirited Child) does not seem to work with all (older) children. Our 4th child, now age 4, is extremely strong willed; in fact I have never seen anyone else with such a difficult personality (besides my father!) The Sears/Kurcinka approach, which is rather talky, with lots of "choices" and "reflecting the child's feelings back to him" has not been working. Our son does better with clear, simple limits and not so much talk. He also thrives when given tasks to do, such as helping push baby brother in the stroller (with me mainly doing the pushing). I think it means a lot to him to feel needed and useful - he seems much happier and calmer than when I was simply "waiting on him" and giving him lots of hugs and affirmations (cause he went thru a jealous period after #5 was born).
Your insights into how a child "turns out", whether affectionate or reserved, square with what I have seen among families that have used Sears, Ezzo or both (one method with one child, another with the next). In our family, Sears/AP has, I feel, helped our children to be for the most part secure in themselves, and to get along well. They do argue at times, but for the most part, play well with each other and with other kids.
As for the family bed cramping the parents' style - that's why we have a crib in our room. Baby is not always in our bed.

By the time the youngest is around 3 (or sooner if I am pregnant), he gets transitioned to sharing sleep w/ next older sib, and from there, to his own bed in a room shared w/ sibs. Our kids have not had trouble with staying in bed, being scared of the dark, or other bedtime issues that plague so many kids in American culture (with the exception of our oldest son once having scary dreams when we unwittingly allowed him to watch a movie that scared him - I forget what it was).
It sounds like you have achieved a good balance with your kids and that you and your husband are sensitive and mindful parents. Ezzo or Sears (or whatever) works best that way - when we use a "take the best and ditch the rest" approach. Use what applies to your family - needs and personalities - and disregard what doesn't work or leaves you and baby feeling "not right".
P.S. FWIW, Gary Ezzo is not a doctor, neither of medicine or otherwise. His wife is a registered nurse with experience in pediatrics.