Is this okay?

My 4-week-old gets fussy and we try everything to soothe him, but he keeps crying. He is fed, changed, bounced, kissed, bounced more, danced with, etc. He will keep crying and crying. If we hold him or lay him down in his bed and let him cry for like 1-2 minutes with a paci he will fall asleep. Is this okay? I feel like I’ve heard people say not to let babies cry at all and I feel kind of bad, but he falls asleep and is alright. I think our soothing sometimes keeps him up when he needs to fall asleep. I feel like he is fighting sleep when he is fussy like this. Is this considered CIO? I don’t know I just feel bad for letting him cry!