Sleep advice - 10 weeks newborn

First time mum here in need of advice!

My 10-week newborn goes down for the night around 10 pm. After 5 hours, I wake up because she starts making grunting noises and she moves around in the crib. She is not fully awake but not fully sleeping. It usually continues for a while and she does not settle. Should I let her be or pick her up trying to settle her?

Right now I usually pick her up, quickly change her and feed her. Within 40 minutes she falls back asleep, this time a sound sleep with no noises or tossing. But I am afraid I disrupt her sleep and keep the habit of a night feed when she is trying to sleep longer?
On the other hand, when I let her be to see if she settles down, it is impossible for me to sleep as she makes a lot of noises in her drowsy state. That’s why I always preferred to wake her up and feed her so that we can go back to a deeper sleep.

Anyone experienced the same?

Thanks!!