If the child needs it, then yes.
If not, then no.
But, everyday will be different. So know and go by, your child's cues.
Both my kids still napped at that age. They needed it. It was not a battle.
My son even napped at 5 years old, but then since he was in Kindergarten, they had a nap time there. But at home, he did not nap because once in school, after school is busy and there is homework etc., so no time for nap.
With both my kids, their napping in the afternoon, did NOT affect their ability to sleep at night and it did not interfere with it.
My kids napped anywhere from 1-2 hours. My son routinely napped for about 2 hours. It is just his rhythm.
Then, about night time: just start the bedtime routine, EARLIER than their actual bedtime. ie: if her bedtime is at 8:00pm, don't start the bedtime routine AT 8:00pm. Start the bedtime routine, like 1 hour PRIOR. ie: make things dark, wind-down (kids this age need to, wind down), make things quiet and not all active. Brush teeth, change into jammies etc. So that, BY the 8:00 bedtime target time, she IS ready for bed. And then, by starting the bedtime routine AHEAD of time, it is not all rushed and then, prolonged and then the child sleeping later.
That is what I have always done, with my kids.
Kids, this age and onward, need to, wind-down and deflate... before bedtime. Not AT, bedtime. But before.
Or, if on non-nap days...have a QUIET time. I also did that with my kids. It was routine. In the afternoon. I told them it is quiet time for MOMMY, too. It was not something where I made them only be in their room. It was anywhere in the house, but it was quiet things. And it was fine. And sometimes they'd fall asleep and nap. I did not make it like a punishment thing or something negative. It was just a routine.