My baby won’t sleep in day time :(

I don’t believe in “cry it out” for a newborn, so please don’t think that’s what I’m asking.

My baby (5 and a half weeks) sleeps ok at night in bassinet by himself (this varies but generally he will do 2 x 3 hour stints in bassinet next to me) but during the day will not stay on any sleep surface other than me or my husband (has to be held) for longer than a few minutes. He wakes up distressed.

I’ve had people talk to me about knowing the difference between “protest” and “distress” to try and teach me about how it’s ok to let them complain (protest) for a little bit, and you can leave them to self sooth but once they develop into “distress” give them a tap on the belly, put pacifier back in etc - and pick up if need to.

I can’t seem to get bub to sleep more than 4-5 minutes and then seems to go from 0-100 and I feel like I need to pick him up. It’s exhausting. Is there any safe amount of time to let a baby this young cry? Or is it completely off limits because newborns really need you to respond as soon as they cry?

Desperate.