My LO takes the crappiest naps and I don't know how to help

She will be 6 months on 4/15. She finally around 4 months got on a schedule-ish (3 naps a day) and is sleeping in the crib, no more swaddle/merlin. Nighttime sleep has much improved, too.

But her naps are generally only 30-40 minutes. Every once in a while she'll throw an hour nap in there. But having maybe 2 hours TOPS of naps a day? She's going to bed at 5:30 now (or melts down if we wait longer!) because she's SO tired. She will wake up from her nap and 10 minutes later be rubbing her eyes. Her eyes have that tired "bags" look a lot of the time and it breaks my heart.

We were not feeding to sleep but have tried doing that for naps sometimes to help her go down, since she takes a bottle before going to bed at night and goes down easily. There doesn't seem to be a difference in how long she naps either way.

I let her sleep in until whenever she needs to get up in the AM (always hoping she'll sleep later and get more sleep) she will be up anywhere between 6 and 7:30. I work from home so I can go along with whatever she does.

Anything work for any of you? I'm willing to try (almost) anything. I just want her to be well rested! And it makes me sad that I barely get any time with her after work.