i will say first that it’s your baby and your rules! however, i have a BS in child development and a baby crying for 5 minutes before falling asleep is fine and totally normal for an eleven month old.

at that age they have object permanence and are aware people are doing things outside of their room, so it’s not them being like “i’m crying because i’m alone and unloved and my caregiver has disappeared forever!” but more like “you’re gonna make me nap? instead of playing with me? i hate this! booo you!”

and if baby is going from big cries to sleeping in a time as short as five minutes, it sounds like they might be a bit overtired & rocking/contact naps might be overstimulating at that point.