Does mom guilt ever go away?

The constant worrying and feeling like you could have done more at the end of the day?

My DD will be 3 months tomorrow and I feel like I haven’t done enough for her. She absolutely hates tummy time, she hasn’t rolled over yet, and the dr acts like she’s not advancing properly. I try to rationalize and consider the fact that she’s still new, 3 months isn’t very old, and maybe he’s pushing her milestones early. I’m just feeling kind of crappy as a mom and would love some kind words and advice.