Question/advice for baby sleep

At what point were you able to put baby down for a nap awake but tired? Or even just have them stay asleep when you put them down, even if they need to be rocked to sleep?

Turning 7 months & I still rock or nurse her to sleep. First nap of the day I can put her down in the crib & she sleeps. Every other nap she wakes up when I put her down, so I end up holding her for the whole nap