This! We took a gradual approach based on what felt right.
Baby in the same room at all times until about 4 months. She’d just nap on me for the evening and get moved to the next to me when we went to bed (this would wake her so I’d do a feed at that point to get her back to sleep).
Moved her to her cot for one nap a day from about 4 months to get her used to it (usually a 30 min nap, me popping in every 5 mins in between laundry, unloading the dishwasher etc.)
From about 5 months all naps in cot with monitor (or on the go) and she’d be in her cot from her bedtime at about 7:30pm until I went to bed about 10:30ish (when I’d join her in her room, so she stayed nicely asleep in her cot rather than being disturbed by moving to our room).
It had reached the point she refused to contact nap and was happier in her cot.
Might be against the guidelines but having an evening back was so so beneficial and those 3 hours in the evening felt pretty safe with us popping in regularly, plus the monitor.
It was the only break I’d really get and nice to be able to just hang out with DH without worrying about waking the baby. (Yes, when they’re newborns they’ll sleep through anything, but our 5 month old would definitely be disturbed by us having a conversation over her).
It also meant we have a good routine in place - I can put her down in the cot awake and she’ll happily nod off.
I honestly couldn’t cope much longer with the crying that came with no real bedtime routine and she sleeps so much better now.
I’ll start leaving her overnight once she’s well over 6 months.