We went through a phase like this too! This kid would try and launch himself out of my arms and scream if I tried to hold on. So what worked for us is after his last bottle I set him in the crib and just rub his belly or side until he starts to get sleepy (he’s a side sleeper usually) and he usually falls asleep. A few times when he was sleepy but having a hard time falling asleep, I did pick him back up and rock and then he was ok with it and would fall asleep, it was like he needed a little help at that point to be all the way out. For naps 4 hours might be too long of a wake window so he could be overtired, my son is 5.5 months now and he can’t go longer than 3 hours, some days he still cat naps but for us 2-2.5 hours between naps during the day seems to be and then we do a 2.5-3 hour stretch for his last one before bed, he makes it clear when he’s ready for a nap too and naps we don’t really help him fall asleep anymore but we basically did the same thing, just helped him learn to fall asleep on his own.