I'm trying to help my baby sleep a bit more independently. I have been rocking baby to sleep for naps and bedtime until they are asleep in my arms and then I put them down.

I am now trying to put baby either drowsy or wide awake down when they have used sleepy cues. After I swaddled and put in bassinet baby is wide awake but yawning. How long do you wait until you intervene and start rocking or do something to help them sleep? Just don't want newborn to get over tired. ,