I have an ergo but my son hated it. I also have a baby bijorn which he liked a lot more. I did use the ergo when he was 1 at the zoo
For a wrap if its done correctly you shouldn't have to hold on to them at all. YouTube has some great tutorials!
Not all carriers are crotch danglers! They make ones that are very comfortable and won't damage your babies hips like those so. Look for ones that have baby facing your chest with a wide seat so that their knees are spread out. Some good brands are ergo, boba, and tula (there's cheaper off bran ones too). Mei teis are another good option. They kind of combine shoulder straps and fabrix that wraps around you. Ring slings are greay as well and easy to use. There are LOTS of options! Google babywearing and you should find more info!
I carry my 36 pound 2yr old in a mei tie just like bigapplefamily. He would much rather be carried and this way I don't have to chase him around or try and keep him in the cart. I had no clue about wraps when he was smaller so I'm looking forward to wrapping a small baby:) I think wraps and carriers make this way easier
I used a wrap type called a mei tai that is super supportive and you can do front carrys (facing chest only bc facing out is bad for baby) or back carrys. I loved it with my first and will use again for my second. I bought the babyhawk mei tai and had it custom made with the fabric I wanted. I have a bad back so support was very important as well as avoiding crotch danglers. You want your baby comfy and don't want to risk their hips being damaged by a carrier. It can be used from birth to 45 lbs I believe. I used mine until my dd was 2.5 yo. It was wonderful.
Chest carrier are a caraway that's what I will be using