If we mean dogs, I think most of our pets should sleep outside. But of course, race has a lot to do with it. A breed created purely as a companion animal (usually small or very small breeds) should be sleeping indoors with their owner. Other than that, I think most medium breeds or more should sleep outside. Whether it is a balcony, a terrace, a garden, etc. And when I say outside, the place has to be accommodated so that they are sheltered from direct weather such as the wind, the rain... but for everything else, they must sleep outside. The dog has to complete a cycle and if he doesn't sleep outside all year, his cycle gets out of control.
There may be many people who do not agree with me, but my friends, sleeping with your dog in bed is not really loving the animal, quite the opposite. To love the animal is to dedicate time to it, offering it the best food you can give it, giving it love, affection, attention and care and of course keeping it healthy, clean and in your constant presence.
Sleeping with my dog in bed but not taking him for a walk or spending time with him is not exactly the example to follow.