DD goes down to bed easily- BM, stories, song while she's in her crib, and then she falls asleep. When she wakes up (generally not until 4am), I hear her cry and generally let her go for a few minutes to make sure its a "real" cry and not just her stirring. When she starts to really cry, I go into her room, make sure she has a binkie, lay her down on her back, and walk out. I don't say anything to her or give her any additional attention. I try to make the whole interaction as dull as possible. When I leave the room, she ramps up the crying and is almost screaming for a minute. It's not generally very long, and I don't go back in unless she does not settle within a few minutes.
At this point, some nights she will go back to sleep and sleep through until morning (6:45-7:15am) or she will not completely fall back to sleep, but every 10 minutes or so will "wake up" and start to cry again. Sometimes she will settle herself without me having to go back in, and other times I need to go in and lay her back down.
I tried going in last night at 3:30am to try the habitual waking routine you told me about, and it prevented her from waking up at 4am, but instead she woke up at 5:15am. I only had to go in once at that point, and then she fell back to sleep until 7:10am.