Ooh I love contact naps - this is my 'down time' so I can watch/scroll while she feeds&sleeps, I have snacks and a drink next to me on a sofa tray. I don't feel guilty at all. Contact nap babies on the whole, usually sleep longer too. She rests, I rest.
My first baby (15y ago!) was unsettled for months while I listened to other mums/my mum/MIL regarding her needing her own bed blah blah blah. I used to guilty contact nap. This was before I know what I know now.
I'm glad I gave in to the contact naps/breastfeed to sleep as I've since learnt that it's natural to breastfeed to sleep - with the hormone concoction during feeding; this is evolutionary - a 'tool' to aid us with parenting easier.
I'm currently BF my 8m old, actually she has just come off and laying on my lap on a pillow. I could move, but my fella is making eggs on toast and a cuppa so I'm gonna sit and stay. I'm back at work soon, and I have put things in place where she can sleep in the car seat, pushchair and baby carrier so I'm not worried.
Follow some accounts on Instagram with other likeminded mums, like others have said, you do you, you parent how you want to parent. Even if it changes along the way - this is okay too.
Few accounts to follow; heysleepybaby, thebreastmilkqueen, thebreastfeedingmentor, wildflowerbreadtfeeding - few to start you off.
You're doing amazing!!