Do you think it is OK to pull a baby(toddler) from the car seat during the drive because he/she is crying like hell?

Tess
So I'm having a lot of argument with my husband because he thinks that it's bad to let a could cry so I have to pull her from the car seat and hold her on my lap instead so she will be calm. I think it's unsafe, illegal and just egoistic to keep the car silent by keeping the baby in danger... but he explains that he drives safely and it's only 15 minutes on regular road to home. Please tell me what do you think!

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