If you're happy and bub is happy.....

If you weren't happy, then there are of course things you could try, not because you're doing anything wrong, just if you wanted things different. If bub needs to be held, perhaps a baby carrier would help, if she fell asleep in the sling maybe she'd transfer easily to her bed.

For what it's worth, I know anxious people with chilled children and vice versa. I do believe that when it comes to fears, anxieties, we can sometimes sort of pass them to children (for example, if I stress about an issue, then my children learn it's an issue), but even that's not guaranteed.

So I guess my answer is sort of mixed. What you're describing doesn't sound abnormal, and bub is only 6 months. And you say you and bub are happy so that's great! Kids have different temperaments and personalities - I was a great sleeper and my sister was a pain in that regard - same parents!
However, it's really great that you're self aware about anything bub might pick up on, and I can't answer that for you. If you think you stress too much about things, and you can moderate that so that bub doesn't pick up on it, that's probably a good thing - for both you and bub. xo

So yeah, summed up - sounds fine and normal and great! But also your self-awareness is fantastic too.