My son (now 2.5) was the SAME. I thought I was going to have to hold him while sleeping the rest of his life! Well, it lasted until about 5 months, then I could put him down as long as there was some white noise and something that smelled like me where I was putting him down (at first). By 6 months, he would nurse to sleep and I could put him down anywhere and he would nap 3 hours at a time(and still does). To this day, he won't nap or go to bed without someone lying down with him while he falls asleep though. But not all of your kids will be like this!!! I now also have a little girl (4 months in a couple of days) who WON'T sleep while being held and squirms until I put her down awake and she falls asleep by herself. EVERY child is different and you know your child best. Follow your instincts and know it has been done before and it ENDS! One more thing: Naps do get longer once they are rolling to their tummy too, they sleep much better that way.
As for the bath, do it in the morning then. There is nothing that says you have to do a bath in the bedtime routine. Especailly if it is not every night, it is better NOT to do it then so that you are consistent. I too nurse and have never done bath at bedtime. We just go into the quiet room, change diaper, put on pajamas, nurse and sleep. They both know this as the routine.
Sleep times vary. You just need to do what is best for you and your family. We also do a later bedtime and sleep in later. Whatever works, stick to it if you are comfortable!
Good luck!