For those who didn't sleep train as a baby, how does your toddler sleep now?

We didn't sleep train per se, but we did have twins that have not minded going to sleep independently since about 3.5 months. They used to wake up twice to feed, then dropped to one feed. Now at 15 months, they usually sleep 7.30pm until 6am ish.

That said, one day a week or twice, they still wake up and want some milk. And most nights they lose their dummies and moan in their sleep when they can't find them so we end up going in and putting dummies near their hands. They're also always moving around and get stuck in the corner of their cots in weird positions and get upset and they're so sleepy they can't get out. So while they sleep through, we don't sleep through if that makes sense.

Is anyone else in a similar position? Or how does your non sleep trained toddler sleep?