t sounds like you need to start working on re-settling as a means to extend her naps.
This involves getting to her super-quick (ideally instantly, if you can anticipate when she will wake up and be right there when it happens) and re-settling her back to sleep when she first stirs. This first stirring isn't actually 'waking up', it is just the gap between one sleep cycle into the next. If your child has no ability to re-settle, then this gap becomes a wake-up.
So get to her as soon as she first stirs, before she actually wakes up. A firm hand on her chest/back and long, quiet shushhhhh may be all that is needed. Maybe sometimes a gentle finger pat with your firm hand on her chest/back. Leave your hand there and try to keep her still and comforted. Do similar things you do to settle her to sleep at bedtimes.
In time she will start to naturally link her sleep cycles and this re-settling wont be needed. But you often do have to put in some work to teach her to sleep longer.
The timing of your naps sound all over the place and you are right, this is all likely to be affecting her bedtime and wake-up time in the night.
You do have to fit baby's naps in with your family routine. If she has a long car journey in the morning then I would use that as naptime. It is pretty impossible to keep a tired baby awake on a car journey, I find! So I'd just go with it and for now have this as naptime and aim for getting this nap as long as possible.
If you establish this car nap (what time would that be? Say 8am-9am?) then I would go for another nap at 12pm and try to extend to 1.30pm if possible. Then a third shorter nap at say 3.30pm-4.15pm.
This is just an interim suggestion as a means to move bedtime later and so mornings later. If you can get bedtime closer to 7.30pm and wake-up at 7am ish, then aim for cot naps after the morning car journey instead. A later morning wake up should mean she's less tired on the car journey so that she's still awake at 9.30am when you get home. Then you can aim for naps of 9.30-11.00am and 1.30pm-3.30pm. You can't realistically get straight to that point though, there will be an period of transitioning naps moving.