In order to get an accurate answer to this question you would probably need to contact your child protection agency and ask them. They are, afterall, who would enforce this.
I know on military installations you cannot have children of the opposite age in the same bedroom after the age of 5 or 6.
In foster care you sign contracts stating you will not house boys and girls in the same bedrooms at certain ages (depending on the state and local rules).
Some communities/counties/states have rules against this as well, so it could very well boil down to your local jurisdiction. I am unable to find any federal law (which would cover all 50 states and territories) that expressely addresses this issue.
Some landlords even put it in your lease (this protects them in the event that you would get in trouble with the police/CPS).
While it is not advisable once they are older (especially during puberty) I cannot honestly say if it is legal. Call CPS you will not get into trouble for asking and if you are really paranoid use *69 and block your number.
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