Hello R.,
It sounds like she was soothed by her binkie and now there is nothing else, except the occasional car ride, that she will relax with to fall asleep. Although, it sounds like she needs a nap still, it doesn't sound worth your energy or worth damaging your relationship with her to push it. Why not skip her nap and move bedtime to 5:30 or whenever she will easily fall asleep.
My youngest daughter started skipping her naps (at 35 mos.)and it has been a big adjustment for me. Not only do I not have my afternoon break, I have to move the whole dinner and bedtime routine up significantly. Now, though, love having the whole evening to read and relax after she is asleep and am grateful for the change.
In support of your relationship with yourself, your daughter and your expected baby, I recommend reading, "Raising Our Children, Raising Ourselves: Transforming parent-child relationships from reaction and struggle to freedom, power and joy," by Naomi Aldort.
Happy parenting journey! ~T.