No, I disagree; first of all, I just don't think Andalites get the urge to hold things in their arms at all; their arms didn't really evolve for things like that. Kinda like how the concept of human-style throwing bewilders both Elfangor and Alloran/Esplin in the Andalite Chronicles.
But even if they did, I doubt that their frail arms would be able to hold even a new-born Andalite.