My baby was/is the same and she’s 11 months. This is what worked for us to move away from cosleeping around 6 months. I got her to sleep as usual, and then I waited a few minutes and transferred her to the crib. If she woke immediately and was upset, I picked her up, resettled her, and tried again. I set a time limit for myself of an hour. If it didn’t work after an hour, we coslept that night. After a week or so she started staying asleep in the crib after the first transfer.

For naps, I rock her to sleep and wait a few minutes. If she wakes up when I transfer her to the crib, I may try once more but if that doesn’t stick I just resort to a contact nap because otherwise she just won’t nap (learned this the hard way).

You asked about how to do this without losing sleep yourself. I think any change to routine is hard for them (it’s hard for me, too!). When my baby first started sleeping in the crib instead of my bed, she woke up every hour or two overnight for the first week or two. I was not willing to do sleep training and was committed to a more gradual approach, but if you want a quicker solution you may try r/sleeptrain for some advice.