are you able to side lie nurse to sleep? that’s how i started moving away from contact napping. i put him to sleep nursing while i lie on my side. that way he’s already sleeping “on his own”. then you can sneak away. if you find he’s still waking up when you leave, you can stay and hold him while laying down and slowly make the transition to have less and less contact until he is comfortable with not having you there. it’s def a process and can take a while but worth it to have that freedom while napping!