I was going to suggest a toddler bed if you aren't already in one. That way you can read or snuggle to bed there and she is less likely to wake up when you leave. If you already shifted to the toddler bed, trying to shift falling asleep there it could really help. Our routine: Watch Ms Rachel or nature show for like 30 minutes at 7 ish after dinner with milk. Play time till 8 ish. Bath time! A little more play and finish up milk/have a snack if requested. Brush teeth. Book time time Mama. Then snuggle time with Papa. Eventually sleep. But he's sleeping all the way through the night. Dad and I tag team it through bedtime so we each get a little chore time.
I think it sounds like you would ideally like her to fall asleep independently in her own bed. Has she ever fallen asleep without your presence before? Move towards that. I'd suggest setting up a bedtime routine. We do bath, brush teeth, put pajamas on and then put him in bed and read 2 or 3 books before turning off the lights and leaving the room. Then he eventually falls asleep on his own.
I will say we’ve had phases where the bedtime routine works super well and she falls asleep super quick on her own and other phases where she is up for hours or insists on sleeping in mommy/daddy bed. There was a period where I did books, then she turned out the light, then I put her in the crib, sang her hush little baby, she always asks for a snack and water, which I bring to her, then she fell asleep. That was working really well for several months. Now she is way more into playing and less into books - we still read books but just a couple whereas before it was like 10-30. And now she keeps asking to go downstairs to eat or to go in our beds, etc. we just took the front off crib on sunday so that was a change she is getting used to but its easier for us to cuddle her in bed
A few things that we have done, I have just had to help her relearn to sleep as moved from cot to bed as she was climbing out - same routine as others (we were already doing this) - dinner (checking her tummy is full at the end of it) bath, stories - last story in bed as though she is going to go to sleep, tuck her in with the same words every night, and either she does drift off or if not, I tell her I will be right outside her room and will sit so she can see me but I’m not in her room and also tell her I will come back to check on her. We also have a Yoto and quite recently we have been using the night light to say blue is sleep time and we will come back in the morning when it is yellow - this hasn’t worked consistently for what I want (not crying in the night) but from a now is bed time cue it works well.
I’d cut out the TV before bed. The blue light is really stimulating to their brains, so even if she does fall asleep, her brain is still being stimulated by it. Maybe try replacing it with some books in her room? With my daughter, our routine is bath, jammies, a book or two, then snuggles, prayers, and tucking her into her bed where she’ll roll around to get comfy, snuggle her blanket and stuffed animals, and then pass out. She’s still in her crib which I’m super thankful for. Is your daughter still in a crib or a toddler bed?