Parents who haven’t sleep trained- what does sleep look like for you?

I have a 10.5 month old who we haven’t sleep trained. He’s assisted to sleep by being held and having his back rubbed. Occasionally still rocking. He’s getting big though, so sleep is becoming difficult. Additionally, we somehow reverted back to contact naps a few days ago. He keeps waking upon the crib transfer.

Anyway, I’m looking to see how other who haven’t sleep trained handle naps and bedtime. I’m feeling very badly that my older infant is a mess with independent sleep.