For our three kids we did the following for night time.
1. Don’t give them loads to drink just prior to bed. So for us that meant no drinks 1 1/2 hours prior to bed time.
2. Take them to the toilet last thing before they go to bed.
3. Take them to the toilet when you go to bed, say 11pm.
4. Take them to the toilet at 3am.
5. They generally took themselves to the toilet when they woke at 6am or 7am.
We started dropping the 3am wake up after a week or two, mostly because we didn’t like waking up either. Then stopped the 11pm wake up when we/they got bored of it.
They all did this at different ages ranging from 3-5 years old. From then on all slept though the night without issue. As above when waking them up and taking them to the toilet they generally do it half asleep.
edit: Some used pull ups for this process whilst others didn’t. Sounds like your one doesn’t want to.