Shelf life for co-parenting?

Does anyone's experience indicate that co-parenting is only a good solution for a finite period of time, after which children need to "live" with one of their parents for the majority of the time and then "see" their other parent at agreed times?

For context, my wife and I are separating (relatively amicably as things stand) and are planning to co-parent (from separate homes) albeit the specifics of the schedule are tbc.

Our kids are 6 & 9 and co-parenting is absolutely the right solution for all 4 of us in the short and medium term. I'm just wondering if anyone has thoughts on whether that maybe changes either after X years of separation or once children hit a certain age (eg become teenagers)?