@spiritedtreasure Hello! There is a game mechanic that adds a kind of placeholder for parents of sims when you start playing them. Sometimes the Genealogy shows these placeholders as generic male / female thumbnails but not always. Based on your description, it seems these placeholders have been set for that "grown-up baby" sim. The only way to add parents to sims at the top of the family tree, once those placeholders are set, is to save the household to your library and then remove them from the save (or create a new save where the households can be combined). You can then combine the households in CAS and you should be able to also set their relationships at that point.
For your example:
Save 1 - SimA and SimB got married and had baby SimAB. Then you saved Sim AB and loaded them into a new save.
Save 2 - SimAB had baby SimABC. Now you want to bring in SimA and SimB from Save 1.
First, save the households that include SimA / SimB and SimAB / SimABC to your library, if you haven't already. Note: They will retain all traits, as well as aspiration and career progress. They will not retain relationships outside of the household. They will not retain money when adding the other household (meaning the combined household money will start as if you've never played them, around $24K I think?). They will not retain any inventory items.
You could then start a new save OR, if you want to keep playing in Save 2, you'll then have to delete the SimAB / SimABC household.
Either in a new save or with the SimAB / SimABC household deleted from Save 2, go into CAS and load the households from your library. I suggest starting with the SimA / SimB (grandparents) household; double check they are spouses. Then load the SimAB / SimABC househld and choose the Merge option. Double check they have parent / child relationships. You should then be able to set SimA / SimB as SimAB's parents and, by default, they will be set as grandparents of SimABC.
Please come back and update if this worked for you or not. Let us know if you have any questions or encounter any problems.