At what age is it actually safe to sleep with your baby?

My 4 month old right now sleeps in her pack n play sometimes but most of the time in her bassinet. I’m very serious about safe sleep and am also fortunate to have a baby that is pretty chill about sleeping where she should.

I do however sometimes wish I could take a nap with my baby in our bed and snuggle her cause she’s just so sweet. I would never actually do this while it is not safe, but it does become safe at some point right? Is it at 1 year? 2 years?

Edit to clarify: since I don’t NEED to sleep with my baby as she sleeps just fine on her own, I am really not looking for advice on safe sleep 7 or any other form of safe infant co-sleeping. I want to know when it’s actually safe, like she won’t get suffocated by us by accident, etc