PLEASE HELP!! baby not sleeping

Dana

My 6 month old has never been a good sleeper. She will only take extremely short naps if she’s on me. And at night she still wakes up at least 3-4 times to nurse. The only way I can get her to fall asleep is to breastfeed. I know I should have started earlier with putting her in her crib drowsy but not fully asleep. If she isn’t completely out cold she wakes up when I transfer her into her crib. If she doesn’t initially wake up, she will an hour or so later and cry until I pick her up and feed her, continuous cycle throughout the night. I know it’s my fault for not allowing her earlier on to learn how to self soothe. I’m insanely sleep deprived. I’m hoping it’s not too late to switch up her sleeping habits. My son was never a good sleeper as a baby. Please help this exhausted mama out. Any and all tips are welcome. THANKS!!