Hey there:
Well, you say your daughter may be somewhat "spirited" I think is the word you might have been looking for. I will say that if she flails her arms and legs a lot she may definitely need some swaddling. My daughter, who is now 26 mos. old, hated being swaddled and always found a way to free one arm. (which i then proceeded to just swaddle the rest of her body and leave one arm free, this way she gave up struggling and could then figure out how to self-soothe by maybe sucking her thumb.) The lack of control she has now with her limbs may be what hypes her up when put in the crib. Remember, in Tracy's book, she says that the flailing limbs can even scare a baby. Even if it's hot, I would still swaddle. Maybe just leave her in a diaper and the swaddle.
About a routine, well first of all i would make sure that you put the little darling to bed between 6:30 and 7:30. Early bedtimes are best, they sleep better at night because of it. I found that bathtime hypes up my daughter so I try to avoid bathtime right before bed, I try to do it before dinner time or right after her nap. Also, you don't need to bathe babies everyday. Just keep certain things consistent in your nighttime routine. For instance, walk in and turn the lights off, play the same music, or sing the same lullaby or song, hold her, rock with her (ofcourse not to the point of falling asleep), think of things that you know are soothing to a baby and just keep doing it. For my daughter, I sing the same lullaby and I got her the Ocean Wonders from Fisher Price from when she was born that we put on along(lights and music only) with my song. There are many things you can do for a routine. Just be creative, some days you may have to lengthen your routine because she may be sick or overtired and she needs extra help winding down. I hope I helped.