i'm only fairly new to this too but i reckon you need to do what feels right to you. if something feels wrong, then it might be worth looking for a different way? i dunno. sounds like you've got some good routines going there & that's giving some good pre-sleeptime cues.

i know my DS def went through a stage of wanting to be held for naps around the same age - but he did grow out of that. although he does still want to be helped to sleep - but i've come to the conclusion that that's just him/his personality.

she's still fairly little so there's plenty of time for her to learn to self settle. hang in there!