My baby did this up until after her second sleep regression that ended around the 10 month mark. Now she has one long nap of about 1hr 30 mins, and a shorter nap of 30-45 mins but she's transitioning to one nap now at 12 months old.
Totally normal. As baby gets older they will learn to link sleep cycles and do longer naps x
Yes it will get better. My baby started doing longer sleeps from 6 months onwards… they have to learn to link sleep cycles xxx