Way to lower the mattress inside a cot gracefully
Been there, and I sympathize (survived 3...)

Does your cot have a side that lowers? That helps.

It does get better with practice...

One thing that may help is to cuddle them with a blanket and lay them down with the blanket - often the colder bedding is the trigger to wake them...

The other thing we did was to use a sheepskin for them to lay on - very good for temperature - apologies to any if that is a "left-field" solution...

Aslo we never had "silent mode" in the house, even if the kids were having a lunchtime nap, it was hoover as normal etc - they soon slept through it...