Food food food! It's almost always the answer. She needs to eat more all day long-and not just right before bed. Even if she doesn't seem hungry, and you have a full eating routine, TRUST ME, if you feed her more, she will sleep longer.
I learned this trick from my step sister (12 kids) AFTER my daughter was 1 and still waking up 2 times during the night to nurse. She said it ALWAYS works. A totally full child will sleep 10-12 hours. Sure enough, I had my son (who eats TONS) sleeping through the night like a stone by 3 months. When I started feeding my daughter more, she immediately (after a few days while her body registered the fullness) started sleeping long solid nights. I was baffled, because I thought I was feeding her all she wanted already.
Now I constantly feed the kids healthy snacks in addition to all their meals. Anytime we're driving, I hand them food. Any time a little time has lapsed, I hand them food (all heatlhy, and they're thin, even with plenty of whole milk and cheese etc. I keep the calorie count up there with high protiens and whole grain carbs-as well as fruits and veggies-no empty sugary stuff) My mother in law was just here and refused to feed them so often. Sure enough, after a couple of days, my son started waking up 2-3 hours earlier!!!!
Feed her more and wait a few days for it to click with her body.
Some kids don't sleep longer than 10 hours, so if she's going to bed at 7:30, 5 isn't unheard of to be waking up. Once she's sleeping better, I would put her to bed at 8:30 for extra security in the morning. My kids sleep from 10pm-9am. Even my son with his 3 hour naps.
Good work keeping your own sleeping spaces and not bringing her to your bed! Once she's sleeping better, you'll be SO WELL RESTED! I LOVE MY NIGHT TIMES! Long and undisturbed.
Also, always makes sure she gets plenty of physical activity climbing etc during the day and some sunlight so she's tired at night too.
Food food food!