If she likes to be wrapped then you could get her a sleeping bag , they go inside them and they have a zipper up the side and then straps go over their shoulders and popper into place , that would give her the feeling of being inside something which she is used to. As for letting her get herself off to sleep you just need to decide what works for you , do you want to be able to put her to bed at the same time every night fully awake? If so then do just that , yes she is going to fuss for a while as you are changing what she has become used to , but you've not left it too late to make changes. My kids routines are the same the bed times just vary as they are different ages , but they all get a bath and into pj's , then my youngest (18 months) has some milk and then she get's put into her crib around 7pm , some night she goes out like a light , other nights she may be awake for 10-15 mins chatting , and yes some nights she causes a complete fuss , we check on her to make sure all ok and then leave. That is the main thing , check them by all means and give a little Sshh Sshh and rub there backs but don't end up picking her up and doing the thing that you want to stop doing. Some babies like soft music playing (does she have a crib toy that plays music) if so put that on. If you do the same thing every night , after a week you should be at the point where you can put her to bed awake and let her drift off to sleep by herself.
Good luck
K.