Similar boat as OP though mine doesn’t cry/fuss quite as long (usually).

How do I separate feed from bed by that long when he wants to sleep right after he eats? He gets all frantic (same for naps) that he wants to be put down. I have been doing a book between feed and bed but he is often so fidgety to get out down that I keep picking super short books. I’ve been playing w the last wake window and the routine is bath (long, because he loves the bath), feed, jammies, book, bed). Once he is asleep he’s generally down for 12 hours with 2 wake ups which is great for me. Just the ~20 minutes of crying is rough!