I have been doing a lot of reading on here as i am looking at getting beardies again. my experience goes against much of what i have read so perhaps i was just lucky but when i got my beardies: one small and one rescue from petco we handled them every day, they spent very little time in there tank while we were home. they came with us to the beach and burrow in the sand or go swimming in the lake, to the mall, outside while cooking; they sat on our laptops while playing games and slept with us many times. they each had a 20 gal tank with all the basics and they also had showers with us every morning where they would drink. they would NEVER drink standing water so it was natural they had to have showers. My beardies also slept together quite a lot, the female would lay on top of the male under blankets of leaves in there tank. I would say to handle them as much as you choose to so long as they get there proper D3, food, water, and sleep time. it was not uncommon for my other animals (dogs and cats) to sleep by the beardies, my cat was a very aggressive hunter outside but with our beardies she treated them like her pet.
maybe some of it is chance, maybe some of it is letting them grow up together, maybe other just dumb luck but i never ran into issues with mine getting over socialized. i suppose my only issue was that my x gf could not feed my female as she would bite her every time, but she was quite aggressive anyway when it came to hunting her prey. we always had our pets together and never had an issue with 3 dogs, a cat and 2 beardies.