If it’s often taking that long might need a schedule change!
If it takes longer than 20 mins for them to fall asleep that usually means they're not tired enough. What time is bedtime? Do they still have a nap? If so, what time? If timings are all ok and it's a separation anxiety thing try to reframe it. Nurturing your child and meeting their emotional needs is being productive. You're building a brain! That's the most productive and important thing you'll ever do.
I’m in the same boat except my girl used to settle herself down on her own and since September needs to be taken to her room and holds our hands until she’s fallen asleep had the odd night where she’s settled herself but yeah I’ve mostly managed to reduce the time it takes by switching up our routine. So we have dinner, then calming tv then booksthen pjs and tooth brushin, milk and more books if needed. Then take her to her room put Tony box on and night light and make sure she’s been active during the day