Sleep help/Merlin/dockatot 😴😭

Trying to figure out what to do. LO is 20 weeks and only sleeps well in her dockatot. If she is sleeping in the dockatot, she will put her self to sleep, and sleep through the entire night without waking. If I put her in the crib, she constantly throws herself around and wakes her self up constantly throughout the night. I’ve used love to dream, halo, and zipadee zip and nothing helps. She appears to need the dock to keep her still at night. Neither my husband or myself are crazy about continuing to use the dock, but I don’t know what to do. So my questions are

1. Has anyone that has used the dock successfully transitioned out of it, and how did you do it

2. If anybody is using the Merlin, does it help keep them still? She can roll both ways but Has difficulty getting back to her back if she rolls to her stomach which also wakes her up. I don’t know if the Merlin would be able to stop her while she sleeps?

Pictures below are from her sleeping in the dock and her sleeping in the crib