Toilet training wondering

My two almost three year old girl is toilet training and I was wondering how long some have taken to get use to undies and clueing into they need to use the toilet while wearing them. My little girl understands what the potty/toilet is for and uses it rather well when bottomless. She’ll pop on sometimes and am following her cues because I feel if I set her to a time to routinely sit she won’t learn how her body feels when she needs to go. Daycare have been super supportive in toilet training and buddies her up with a friend and it’s part of their learning program. Just curious how others have found this.