Sleeping tips help

Okay ladies I don’t want to let her cry it out she has no issues going to sleep and staying asleep once she gets there. I need advice and help on how to get her to bed sooner. She has a bedtime routine, dinner, play with dad while I shower then dad brings her I she gets cleaned dad gets her ready for bed while I finish my shower. She nurses and falls asleep after I’m done. But if I try to lay her down she usually wakes up, if I lay her down and she doesn’t she still doesn’t go fully to sleep it’s like she is taking a nap and not going to bed I guess. She doesn’t go into a full sleep till 10/11 pm and at that time she will go to sleep and just be out for hours. Any ideas on how to move her bedtime earlier? We’ve tried sticking to the bedtime routine tried moving it’s time up as well and it’s like she just takes a nap. Idk what to do it has put a strain on the relationship because by the time she goes to bed we are tired and go right to bed.