Travelling to Msia in car with full load

Hi all, understand that when travelling in car, babies definitely need to be in their car seat. But do anyone know if we have a full load of 5 adults in the car, can we hand carry the baby? Especially when clearing custom... anyone with the same experience please share. Thank you!

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I hand carried baby even thou we have a car seat cause baby cries once in the car seat, it’s more of a “at your own risk” issue.

Drove to KL over the weekends with 4 adults 2 babies both carried in hand. All good.