Togarama, couldn't agree more - we didn't do routines, we just let them lead it. Lots of clusterfeeding in the early days and no life between 4 pm and 9 pm - but that passed after about week 6, and we had a solid bedtime routine by the time they were 4 months, all based on their needs and their cues.
Be prepared for some disapproval though, OP - one of my friends once said 'You're not still demand feeding, are you?' when I fed my 3 month old DD at our baby group afternoon. I said something along the lines of 'no, I just like to get my boobs out now and then' - never heard another word, but then I'm very brazen.
We're still changing thinsg as needed in terms of easing bedtimes back a bit now that they're older - recently introduced 15 minutes reading in bed time before lights out and it's been a good way of getting them calm and ready for sleep.