5 month old sleep

I'm wondering if anyone has any suggestions on helping my 5 month old to sleep.  We cosleep, which we weren't planning to do until our baby woke up for 15 minutes of every hour for the first 2 nights at home but slept for 2 hour blocks in our bed.  Since she was born, she really won't sleep anywhere but in bed, with mom next to her or being held.  She will nap for 2 to 2 and a half hours if you hold her for the nap.  When you put her down, she wakes within 15-20 minutes, regardless of how "out" she is when you put her down.  This is actually an improvement from her first 2 months when she would wake within 5 minutes.  

Our normal routine is:

 6am-ish: wake for the day

9am-ish- nap- 20 minutes if set down, about 2 hours if held

1pm-ish- nap- same deal, 2 hours if held, 20 minutes if in her crib

6:30-7pm- down for the night.  Our bedtime routine involves changing into pajamas/diaper change in a dimly lit room, massage, lullaby, nursing, then bouncing to sleep.  She used to require nursing to sleep, but after reading "No Cry Sleep Solution," she is still awake after nursing and requires bouncing and shushing to fall asleep (while wearing a nursing cover to keep her from trying to look around the dark room).  

Up until the past 2 weeks or so, she went down fairly easily, would sleep in the pack and play (after waking up every 20 minutes for about an hour), would then sleep until 9:30 or so.  I would bring her into bed with me and she would nurse and then go to sleep for the night, waking only once or twice.  Lately she is waking much more often than this, probably 4-5 times during the night and wanting to get up for the day around 4am.  

 At her best, at 3 months, she was sleeping in the pack and play in our room, alone from 9:30 to 3, waking up to eat, then back in pack and play alone until around 6am.  This disappeared around 4 months and reverted to her newborn sleep habits.

 Any suggestions, other than CIO?  I do not want to try CIO at this point.  I have tried putting her down drowsy (just starts screaming), putting her down drowsy and rocking her with my hand in the crib and shushing (she calms for a few minutes but then starts screaming again), tried the pacifier.   I need to make/eat dinner, wash the dishes, etc.