Naps- Getting past the first sleep cycle


My baby is 8 weeks old and we are working on naps. He does pretty well at night. I have gotten to the point during the day where I am aware of his awake window and his sleepy cues and am pretty good at knowing when to swaddle and put him in his crib. The room is dark with white noise. He is getting really good at being able to FALL asleep for the nap, but around 33-35 minutes in, he wakes up and can’t seem to get back to sleep on his own. For the sake of getting him the sleep he needs I just end up picking him up after several minutes and let him take the rest of his nap in my arms. I am assuming he’s making it to the end of the first sleep cycle and then can’t get to the next one on his own. Any tips for this ?? Or will it just take time ?