My 8mo doesn't have a bedtime routine. she sleeps around the same time every day & is able to sleep anywhere for naps but only close to me @night.

Separation anxiety : This is a very normal process. Your child is learning to identify being alone and it is an uncomfortable feeling. Letting her sleep with you is okay. A good way to encourage separation is to give her a security blanket or stuffed animal. The key is have the blanket smell like you and be associated with being with you. Then when she is alone with hr blanket she can feel your presence.