As a kindergarten teacher for 6 years (now a 3rd grade teacher), I think she'll be fine. It sounds like she has some basic skills. Be sure she is comfortable with being left there, without you. If she has any neighborhood friends who will be attending as well, be sure to have some playdates before school begins. That will help a little with first-day jitters to have a familiar face! It's also important that she knows how to share, (or at least has some experience with it!

) and listen to an adult other than family. You'd be surprised how hard that is for some kids! VBS, Sunday School, city arts or rec programs, etc can all provide that. If you can make it sound so exciting and fun, your DD will look forward to it.

Don't say things that might scare her, or worry about how she will fare where she might overhear. Meet the teacher on any preview days, or just walk around the school in the day or two before school starts. Take the time to see if she can see the classroom before "the big day". That helps the anxiety for a lot of kids.
I wouldn't worry too much about the lack of preschool experience. I taught kindergarten and I sent my own kids only to 2 days a week of preschool, the school year before they started K. I just wanted them to have some socialization in a bigger group, listening to the teacher, etc. They were fine and I'm sure your DD will be too!
And don't let her see you cry!!!

You can commiserate with all the other parents in the parking lot.

Best wishes for both of you!