she has two naps, around 1.5 - 2hrs total
That's not much daytime sleep for this stage. I'd be wanting 3 to 4 hours. Could you lengthen either nap by resetting?
I'd be wanting either two naps of 1h30-2h or a morning nap of 45 mins and afternoon nap of about 2h30.
I would also suggest you fully seperate feeding and sleeping. This us so that you have to develop a way to get baby to sleep in the cot when no milk is involved.
So start doing your bedtime milk feed downstairs during your quiet time, before bath and pyjamas. Likewise move the time if day you give the milk feeds so they are not just before going to sleep. You could, for example, feed when waking up instead.
Then at bedtime and naptime, put baby into the cot fully awake. Bend over into the cot and do all of your settling in there.
Can baby physically go from standing to sitting to lying down without any help? If not yet, these motor skills will develop shortly. Once baby can do this, start teaching instruction following rather than doing things for baby. For example put her in the cot stood up, tap the mattress and tell her to lie down. So she does it herself.
In the cot, a firm hand in baby's chest can be good for this wriggling around phase. Some babies respond patting, others like stillness. Some a shushh sound, others silence.
The idea (of gradual withdrawal) is to give as much reassurance that baby needs, then have a plan over several weeks/months to reduce how much reassurance is given in a gradual way.
So it may mean starting leaning into the cot, patting if distressed, but shilling hand when calm. But bending in to the cot at all times until asleep.
Then after a few days/weeks hand on chest to calm when distressed, but remove hand when calm, but stay bent over cot all the time until asleep.
Then hand on chest yo calm if distressed, remove hand and stand next yo cot when calm. Stay until asleep.
Then hand on chest if unsettled, stand facing away from cot when calm. Go back yo hand on chest if distressed, withdraw when calm. Stay until asleep.
Then hand in chest to settle, sit on your bed when calm. Then lie on your bed. Then wait by the door, and so on.