When do you stop holding your kids?

This seems like a wild question for me to even ask but I recently received some backlash from a relative for holding my son. For some context my son will be 2 in March, he was born in the heart of the pandemic and my region was one of the last to open things up and lift mandates so he’s one shy dude. I popped into my moms house and she had some family members over that We don’t see often. Once my son saw the unfamiliar faces he turned around seeking comfort and wanted me to pick him up, this is something I never think twice to do especially if he’s uncomfortable for any reason. But then I was very quickly snapped at and told not to pick him up. That he is “way to big for that” and needed to figure it out on his own. My intention wasn’t to coddle him, he just needs to be able to look and see around the room from the adults eye level to get a sense of the environment. He very quickly adjusts after and will go off to play. But She apparently didn’t hold her kids once they were walking. Is this really a thing? When did you all stop holding/picking up your kids?