My baby is 6 months old next week and we're yet to achieve a cot nap over 15 minutes, but will happily contact nap for up to 90. We've tried all the usual stuff so I am here looking for any rogue ways you've managed to get your little one to swap from contact naps to cot ones 🫶🏼
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Following...only getting 20 minutes in the cot as well

Same here — my baby will nap for up to 3 hours in my arms, but she wakes up the second I put her down in the bassinet or cot. I've tried transferring her after 10-20 min she falls asleep but this doesn't work or a dark room :(

I remember side sleep feeding him to sleep while he was in a little nest/pod type thing

You've probably tried these but: warming the mattress
Putting something in the cot that smells of you (clothes/pyjamas from the day before) and removing them right before you put baby in

If you breastfeed, feed to sleep laying on your side and then gently roll away (ninja style 😅

I did sleep training and it worked really well. I was stuck in the same situation.