The schedule can work perfectly and the exchanges can still be the worst twenty minutes of the week.
It is the only routine point where both parents are present, usually briefly, usually with the child watching, and usually with unresolved logistics that need discussing.
Every structural pressure in the arrangement lands in the same twenty minutes.
Transition itself is hard for many children regardless of the adults. Leaving one parent to go to the other involves a small loss each time, even when both homes are good.
Difficulty at handover is frequently about the transition rather than about either parent, and it is easy to misread.
A child who is upset at handover is usually not sending a message about the other house.
Keep it short. Handovers are not the time to discuss anything, and attempting it in front of the child is what turns an exchange into an incident.
Handle logistics in writing, beforehand.
Some families exchange at school or nursery, so the child leaves one parent in the morning and is collected by the other in the afternoon, with no exchange event at all.
Where it fits the schedule it removes the problem rather than managing it.
Same time, same place, same routine. Predictability does more to reduce difficulty than anything said during the exchange.
Do not ask the child to carry messages. It places them between two adults and they will remember it long after the message stopped mattering.
Use a channel that does not involve them.
Supervised exchange services and other arrangements exist in many places. If you have safety concerns, raise them with an attorney or an advocate rather than managing alone.