From the very beginning, we've subscribed to baby led weaning. We might not have called it that right away but that's what we did. My son - the eldest kiddo - was done with formula right at a year. He loved food so much and took to milk right away. It was kind of magically how he transitioned from bottles to sippy cups and from formula to milk. Okay, seriously magic.
I also don't really fix a separate meal for them. They eat what we eat although it may be supplemented with something else. When we do chicken tacos, they eat tomato, tortilla, avocado, chicken, and olives. Last night when we had Swedish meatballs and asparagus; they did noodles, asparagus, avocado, and tomatoes. I'm not willing to fix a whole separate dinner. That's just not how I mom.
And I've never regretted using formula with them. I hang out with some crunchy mommas. But they also have always subscribed to fed is best. And choosing the formula route was what I needed for good mental health. Between latch challenges and production (oh production!! Don't get me started!), it was so taxing to me emotionally. I really hope all mommas focus on making that choice - the one that is right for their body, mind, and life.