When I decided to lean into the contact naps and rocking to sleep, my perspective changed and I enjoyed it a lot more than expecting my baby to meet my expectations! They’re only little for so long and one day, they won’t need us to hold them in their sleep! I know that may not be what you were looking for, but the perspective shift really helped me and once I leaned into it and let my expectations fall away, he actually began napping easier!
My nephew was sleep-trained within two nights by his parents going in after 15 minutes of their son crying. They repeated this, and it worked really well for them. I don't remember details, though.
When mine does that I leave her there and she just eventually falls asleep