I have hope

DD is 12months old and still cuddled / rocked to sleep so that isn't your hope BUT DS was rocked to sleep until about 12months and then we transitioned to lying down with him instead. He is now 2.5yrs and takes about 15 minutes with us lying next to him to go to sleep.

I have absolutely nothing to offer on self settling - mine just don't do it, but there is a time when you don't have to rock / cuddle / feed to sleep. And 15 minutes of cuddles at the end of the day is nice for everyone