How are you getting your toddler to sleep?

I am at my wits end. Our daughter has never been a good sleeper especially during the day but we were on a good schedule with one nap a day, rocking or laying with her to sleep which has been fine, but I’m 6 months pregnant now and physically just too big to do that. Now at nap time and bed time I sit and read her a couple books and she just flings herself around her bed wanting to play, and if I leave she screams bloody murder the entire time. Been trying to leave and do check ins every 5 minutes but she will scream for hours. If I stay in the room with her she just wants to play or roll around no matter how tired she is. I don’t know what to do, everything I am doing seems to make it worse and I’m losing my mind. Seems like separation anxiety maybe but I have no idea what to do for that.

How are you all getting your toddlers to sleep? Sleep training? Laying with them? Do they just get in bed and go to sleep? I can’t make sense of things right now