Definitely don't stop her from napping - this will just make her overtired.
What is your ideal routine for your DD? Do you want her to keep waking at 9.30am or are you prepared to accept an earlier wake up in order for her to go to bed earlier? 11.30pm is a really late BT, you must be getting absolutely no time to yourself so there's no wonder things are feeling so difficult.
IIWM I would gradually start to wake her up a little earlier - maybe 15mins every few nights/week until she's waking at the ideal time for you. The earlier WU will mean she needs to nap earlier & so BT will also need to be earlier, & your new routine will be established. I wouldn't suddenly wake her at 7am if she's been going to bed at 11.30 or you will have one very OT little lady on your hands.
Well I'm here to tell you you CAN sort this out now, but it WILL NOT be easy. DD is used to being fed/rocked/cuddled in sling to sleep and she doesn't know how to fall asleep without it. She can learn another way, but as she is older, it will take a lot longer to break the habit. And there will be a LOT of crying. You need to be really committed, and if you have anyone who can help you for the first few days/nights then this may make things a lot easier.
Now the sleep training method you use is entirely your choice. The most common approaches are as follows:
Controlled crying - Leave your baby to cry for five minutes, then go in to soothe them, then leave. Then you wait ten minutes before going in again, then 20, then 30 minutes
Pick up Put Down/Settle and leave - Put baby in the cot, say your key sleepy phrase. When they start crying (which they will), pick them up without fussing or sounding like you feel sorry for them. Talk to them calmly until they stop screaming and put them down immediately. If they start again on the way down, put them right down and pick them up again. Repeat repeat repeat. Might take 100 goes the first time, but this rapidly decreases
Walk In/Walk Out - Settle baby to bed & leave the room. Wait outside the child's door and assess the situation. It's important to distinguish between different types of cries and identify when your child is truly upset and when they may be settling themselves. Remain outside the room if your child is making fussy-type cries or noises. If crying is starting then stopping, hang back and wait. If crying escalates go in to resettle your child. Repeat your phrase "time to go night-night you can find your blankie/pacifier/suck your thumb/etc. to help you fall asleep" and leave again. Comforting should be brief and you should avoid picking up your child. Upon leaving the room again, wait outside the door and reassess the situation. The amount of time you wait is determined by how your child is reacting inside. The key is to hang back enough to give your child space to fall asleep independently, but to respond to truly upset cries.
Gradual Withdrawal - Aim is to reduce the child's reliance on parental presence/assistance gradually and in very small increments so the child continues to settle well and gains confidence in their ability to fall asleep independently. The parent is there to assist the child in sleeping, but slowly reduces the dependence over time, eg moving a chair closer and closer to the door until out of the room over the course of a few weeks.
Whichever method you choose, I think firstly you need to completely stop letting her nap in the sling or car, and concentrate on getting her to nap in bed. Secondly, you then need to work on teaching her to go to sleep independently without being rocked/fed/cuddled to sleep.
I do wonder if you may be better to kill 2 birds with 1 stone & get her napping in her own bed (or cot? - would be safer at this age) now, b/c I worry that if you leave her to nap alone in your bed she could end up either falling out of bed, or trying to get out of bed instead of sleeping. Also I am not sure how effective sleep training will be if you carry on co-sleeping b/c it would be very easy for you to slip back into your old habits, AND it will save having to do another round of sleep training when you have to move her to her own bed when you are heavily pregnant.
Bless her - she's got a lot of change going on at the moment hasn't she? But if you can be consistent & persevere with it you should get some real improvements. If your DH could do the first few nights that would probably help b/c she already knows she can't get BF from him!!!
Hope this helps. Gosh sorry for the epic post!!!