I highly recommend white noise machines. I have dck asleep in each of the bedrooms upstairs plus one down in the basement. Each room has a white noise machine plus I have one in the hallway upstairs as well. I have one dcg that wakes up screaming at the 40-45 minute mark which is typically their sleep cycles and I go in there lay her back down, she screams for a few minutes and goes back to sleep. If the sound is drowned out no one will be disturbed. I have bought mine all at Great Canadian Superstore, they are made by Conair, $24.99. Use the white noise setting.
I also do not change a poopy bum during naps either. Too disruptive.