Do you ever let your baby cry it out? (I guess it could be called self soothing)

When you baby is being fussy and there's nothing you can do about it or your busy doing something, do you ever just lay them down and leave them be. Do you let your baby self soothe themselves? If so how often? Do you feel like a bad mom for doing it? Or do you think it's bad parenting not to do it?

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