Sounds like the perfect arrangement, Haydies
DD goes through phases of needing me sometimes and sometimes not. If we are talking definitions of terms, I wouldn't call it 'self-settling', because you are still providing her with the comfort of your presence in order to fall asleep. However, it is a stepping stone to self-settling, I reckon, because as others have said, if you feel it's necessary you can try to gradually move further away to encourage their independence.
I suppose my question is, does it really matter to you? Self-settling or not, it seems like you've got a good thing going