Is it normal to still wet the bed at times as an adult?

Normal if you're drunk or dreaming about peeing. Probably less normal if it's a regular thing. I'd get that checked.

Normally bladder control is learned in early childhood...

If you got bladder issues, or medical concerns, a doctor will offer better help than anyone here...

If you enjoyed it, it was a wet dream.

It's called incontinence. You could have issues with your bladder or kidneys. Get it checked up. Make sure to use the toilet before bed. I can hold my pee while asleep even if I drink a glass of water before bed, so this is not normal. Shame it must be so difficult for you to keep having to chnage the sheets and wash and dry and scrub the mattress each time.