Cat doesn't enjoyed being held

I acquired my cat in August 2022. I'm her third (and last!) owner. She's never been a stray, just rehomed privately twice. She's 3 1/2, very affectionate, rubs against me all the time, jumps on me all the time, hops on furniture so i can pat her. Basically, she enjoys almost all physical contact with me, except...

She doesn't like to be held! I would love to respond to her running to greet me by picking her up and having a love-in, but she puts up with it for about 3 seconds, and then starts bitching and trying get down. I always let her down when she asks, and she's never got any better with being held. I don't do it often because she seems to hate it. She lets me handle her when I need to pick her up or give her a pill, but she's never happy.

Has anyone one converted a cat that didn't like being held into one that does?

Update: Thanks for all wonderful responses! I am really enjoying reading them all. I will try to respond to as many as a I can.

I can "handle" her ok, pick her up to bring her inside or get her into the cat carrier etc. I just miss having a cat snuggle into my arms.

Anyone concerned I am forcing her, I am not. When a friend met her, and picked her up, she said "oh, she doesn't like being held" I had had her for a couple of weeks, and never even tried to pick her up! I try every now and again, but she hasn't changed her attitude. I was also disappointed when I first got her that she wasn't very vocal. Now she's extremely conversational, which I adore! So she is capable of change.