Sounds like a bit of separation anxiety - do you think?
During SA it's a great idea to take him around with you to reassure him and most mums find this is the quickest and calmest way through the phase. Yes he is likely not getting the same level of physical exercise if you are carrying him so it's trying to find a balance between being able to get on with your important jobs of the day by carrying him whilst also making sure he has enough time on the floor to exercise and practice rolling and crawling. At times I was able to carry mine to the room where I needed to be to cook/clean and pop DS on a blanket on the floor with a few toys or safe items from the house to play with, so a bunch of measuring spoons and balloon whisk in the kitchen, a clean toothbrush or sponge in the bathroom - that way he felt close and had a 'new' item to explore which helped.
If you feel his morning A time needs to go a bit longer then I would do that, increase by 15 mins and see how it goes. Around 8 months or so the nap routine can change a little, naps can be a bit shorter or one shorter and one longer, and A times vary greatly form one LO to another. If he is ready for more than 3hrs for his first A to even up his day and keep him well rested, that's fine.