At night after feeding it's usually one squawk then to sleep and the other one sleeps through it. They are pretty much asleep when I put them down but I don't think that matters much as long as they go into their cots awake at the start of the night.
Pupd was a disaster for C, as was the no cry sleep solution, when I was trying to stop feeding them to sleep. She just got confused and was really hyper vigilant, waiting for me to put her down. Shh pat worked really well for us, or back rubs, initially totally to sleep (and repeat at each waking), then firm hand on back, then shhhhing in her ear, then next to the cot. We are at the nursery door shhing and if she wakes up I can sometimes shh her back to sleep without touching her. I'm not saying it was a no tears solution, but it was surprisingly ok.
Your babies settle worse when you are there because they love you so much. You should be v proud of that!!