Head control & nap advice!

My son is 18w1d and still doesn’t have full head control... I try to do tummy time as much as I can but he hates it! Doctor says he will be fine with some more practice but I can’t help feel like we’re behind and that I’m doing something wrong. Any other November babies still working on head control? Also my son has NEVER stayed down for a nap for more than 15 min. We rock him to sleep and he’ll stay asleep in our arms but never will if we put him down. He’s 4 months and I honestly don’t remember a time when he stayed asleep once I set him down. I NEVER have time to wash up and get ready. I always have to do it while he’s awake, which I don’t like because that’s time I should be spending with him. I’ve tried putting a piece of clothing that smells like me next to him, waiting until hes in a deep sleep and setting him down gently. Would love to be able to have some time to myself while he sleeps on his own 😭 any advice is appreciated!