Charlie is 5 and Olive is 3. We still bathe them together most of the time. Some days it's easier just to do it separately since Olive gets home from school much earlier and sometimes she doesn't nap and needs an early bedtime.
I remember bathing with my brother until I was maybe 6 and he was 5. But nudity tends not to be as taboo in Korean culture since back then public bath tubs were the norm (as are Korean bathhouses/saunas to this day).
When would you stop? Did you bathe with your opposite gender sibling?