Yes, it is ok. In the hands of someone who knows what they are doing, there are a lot of great things that can later grow out of tug... Fetch, Search, Drop It, and a whole lot more.
Many working dogs are rewarded with tug, starting as little puppies.
(Armin Winkler doing tug work with a jute bite sleeve cover with my dog, Dillon, back around 2000)
I recommend laying the foundation early. Many things can enhance a dog's ultimate talent if you start them early and properly.
You can also hurt a puppy if you play it roughly or in the wrong way. Yanking it away can cause the loss of a tooth or dislocation of a jaw. I've seen both. It's a game, keep it that way.
Does a play game of tug make a dog aggressive? No. Is the growling of a puppy a sign of aggression? No. It is a sign of play. But, if you aren't sure, then get someone to show you what is the right way and wrong way.
Plan accordingly.
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