I like baby whisperer's pick up put down and shush pat methods.
Essentially you rock LO until drowsy and then put them down intheir cot and shush and pat until they're asleep.
If they get upset beyond a bit of fussing, you pick them up and soothe them and put them back down. (You're meant to put them down as soon as they're calm and not give extra snuggles). then continue patting. You pick them up as many times as needed, and don't leave until they're properly asleep. So they will get upset and cry because they're having to go to sleep in a way that's new for them, but you are right there to soothe them.
With an older LO, if you've not done this kind of thing before, it will probably be quite an exercise in patience and persistence, but it should work.
You might find that rather than picking LO up (some kids can get more worked up) that it's more effective to just sort of hug them over the cot and hug it out until they're calm.
Is she waking 4-5 times in her own bed/cot, or is she waking in your bed too? Is she still in a cot? When you say you're transitioning from bedsharing where are you at in that process? Does she start off in her own bed, and then end up in your bed at some point? Have you tried spending the whole night in her bed, so she gets used to the space but with you there?