Hi there!
How is your LO's mood throughout the day? Especially in the evening, does he seem OT or does he play happily? He's a bit on the low end for daysleep, but not terribly so. Seen as your not having any NW or EW he may just be on the low end of sleep needs. You could try extending his A times a bit before nap since a 1 hour nap normally means UT, but 2 X 1 hour naps plus a catnap really isn't horrible (I know it would probably be nice to have more "Y" time though!). My DD will wake up from nap yawning sometimes and wanting to be cuddled for a bit but that's just how she transitions from asleep to awake, perhaps it's the same for your LO with him rubbing his eyes?