Every child is different. Mine are 4 and 2 (19 month gap). I synced their naps so they both napped at the same time after lunch - otherwise leaving the house would have been near impossible.
They have recently both dropped their naps, though they'll occasionally drift asleep on the couch of their own accord in the afternoon.
They usually go to bed at 20h30, and wake up around 8h.
My 2yo is a bit older than OP's though, as he was born in may.
OP, have you tried giving your daughter toys to play with, so she can entertain herself until she drops asleep again without you being necessarily awake ? My kids have a story box (basically a story-telling device where they can choose stories to listen to, audio only) and they frequently use them to fall asleep or when they wake up and are waiting for me to get them. But any other toys can work too.
Also, when she wakes up do you come and play with her til she falls asleep again ? Is she crying/distressed or happily playing ? I think perhaps you need to make it clearer to her that night is a time to sleep or at least play quietly, and you're not going to be entertaining her during that time.