I think you should do what feels best.
You say you don't want to make a habit of her sleeping with you guys. Can I presume and say that you don't want to do this because she won't sleep by herself?
Except.... She already isn't... So what have you got to lose by doing it?
What alternatives are there?
I guess you could try rocking her to sleep, then transferring her, but that can make you very resentful.
She might get over it in a little while, so you could persevere with what you're doing now, and see.
I battled with my first, and he didn't properly go to bed by himself til he was five, and has always been difficult. He's 18 now.
When I had twins, I was not going to have the same problems, so we do-slept until they were one, and then I did rapid return sleep training, which took a few weeks, but they are excellent sleepers. They're ten now, with a very sensible attitude to bedtimes, unlike ds 1 who's a sleep twit.