Bedtime struggles - almost 3yr old

Hi all, looking for advice to end our daily bedtime struggle with our daughter. She has always been a low sleep kid, she dropped her nap when she turned 2 (she still naps in daycare 15min a day most day, I believe out of boredom)! Bedtime takes forever and we are tired! We try to put her to sleep around 8:30pm and she is still very energetic then, wants us to lay next to her, drinks a ton of water and milk (like 300-600ml - it’s insane, my husband introduced it and believes it’s good for her) and finally falls asleep around 10pm which means she wakes up the next day around 9am and we are all late for our day! If we wake her up earlier she ends up having a 1hr nap in daycare and still going to bed late at home. We never sleep trained her. Please help! Thank you