If BabyGirl doesn't fall asleep right away, I let her fester a bit on her own for 5-20 mins before going in to check on her (however, i do check the video monitor to see if I really need to go in). Most of the time, I don't need to. On the flipside, if I see she's just waking up on the monitor, I don't swoop in and fully wake her up. I let her take her time and 'call' me when she's ready. That usually means she starts talking aloud in melodic tones (rarely does she cry unless she's in a physically uncomfortable position or teething or can't get to her pacifier or has gas).
BabyGirl is almost 7 months old and we still swaddle her. She's definitely in a growth period where sometimes she needs it and other times she doesn't, but if she fights her way out of it (which typically poops her out), I rarely go in for the re-swaddle. She clearly wants to learn to sleep without it, so we're ebbing and flowing with her to do so. However, I won't let any shenanigans carry-on for hours on endif the household is exhausted. Typically 45 mins tops, then she gets a full re-swaddle. By that point, she's typically so exhausted she falls asleep easily. Lately, with teething, I rock her a bit. Something I don't typically have to do.
One piece of advice that I was given, much like a 'dream feed', was to not engage the baby in the middle of the night if she needed a diaper change or re-swaddle. Not talking, cooing, singing, nothing. I even took the advice to keep the baby "parallel" to the floor while moving her back and forth as opposed to picking her up and putting her on my shoulder which would alert her to being "upright" and that might mean time to wake up.
If you can afford it, I highly recommend a Night Nurse or Night Doula. Even if it's once or twice a week. They can teach you how to swaddle, start to get baby on a schedule, along with a wealth of other tidbits in those early days and weeks home that are incredibly enlightening.
One last note is Dunstan Baby Language. http://www.dunstanbaby.com/cms/index.php?page=us-home
I found two of these sounds the most important: The "Neh" sound for hunger, and the "Eh" sound for gas/burps. I listened and learned that Baby Girl 'said' both of these sounds, and that also helped me in terms of any discomfort that might have interfered with her sleeping. I found, sometimes she was still hungry, and other times where she need to let out a good burp.
Mamas, just like my friend said, "sleep is paramount to their happiness and yours!" It was my mission in life to get BabyGirl to sleep, and although I was far from perfect in getting her their coupled with a lot of experimenting, tears, hormonal rage, we did it. And you can, too!! Hang in there!!
You're definitely LOOKIN' GOOD, MAMA!!