He’s three and a half months so still pretty young and every time we got to baby sensory classes, which is only 30min, he ends up crying as he just gets so overwhelmed. After there is often a coffee shop visit with the other moms but he just ends up being really fussy and ends up screaming.
Could it be too much, too soon?
Or is it good for him and his brain development??
Just to note when he’s in the class he usually is smiling and seems relaxed taking it all in. Then it all goes down hill
:-(
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It is a good time in the day for him, nap-wise? If it's close to when he's due a sleep, he could just be fussy due to tiredness and overstimulation.

It depends on the baby a lot, you should try shorter time maybe, not go to the coffee shop etc. My son is 15 months, we go to some playgroups but he can still get overstimulated sometimes as he is very sensitive to sounds like his dad, so sometimes I might need to leave early or not go alltogether if he has a fussy day.
So I would say see how it goes and expect each time to be different, they are very unpredictable at this age