I don't actually skip the baby stage, I just keep it short. Even in my current 900 day lifespan stage, babies only get two days. And that is not because they're boring, because they aren't. I enjoy having my sims take them for a stroll, and my parents keep them with them all through the day, just as I did with my own children when they were babies. I have some CC baby baskets, so that when Mom is outside working in the garden, the baby is right there with her, in a basket in the shade of one of the fruit trees. Wherever Mom is, the baby is nearby. I like the baby stage, except in the middle of the sims' night.
The only reason I keep the baby stage short is because of the major disruption they are to their parents' sleep. By the time the parent snuggles and plays with the baby enough to get the social needs up, feeds it, and maybe changes the diaper, they've lost at least 2 sim hours of sleep. That is NOT realistic. When my kids were babies, they slept in a cradle right up against my side of the bed. When they woke and cried to be fed, I reached over and brought them into bed with me and went back to sleep while they nursed. They were in no danger of me rolling on them, because I never change position in my sleep. I have always wakened any time I need to change position in the night. I'm also a light sleeper, and the one and only time I ever rolled onto one of the babies, I immediately woke up.
I do have some issues with the toddler and elder stage, though I give them both considerably more time than I give to babies. I don't like how toddlers are so helpless right up until they are school aged. They go from having to be carried up and down stairs and in the car, eating in a high chair or drinking from a bottle, and using a potty seat, to suddenly being fully mobile and having to go to school. I finally figured out how to fix that issue, at least to my own satisfaction. I now have their stage set to the equivalent of 3 human years. Then with the NRaas Career mod and its School module, I have them enroll in homeschool and disable homework. So for the next three years equivalent, they are still at home with Mom and/or Dad, but they get to play all day, and do simple chores like clearing the table now and then, and sometimes wander out into the pasture and talk to the horses and give them treats, pet them, etc. Then when they are six, they enroll in school.
I haven't yet found a good solution for my issues with elders. The way they are depicted in the game is typical of a real life human of at least 80 years of age, much older than the age we here in the U.S. are allowed to retire with full Social Security benefits. My father didn't start needing a cane until only a couple of years before his death last November, at 87 years of age. My 86 year old mother still doesn't need one. The only thing that really slows her down in getting around is that she is blind now. But in her own house, she'll reach out her hand and find the wall, then she's off to wherever she needs to go, as fast as ever.
I'd like for sims to be able to retire around 66, the legal retirement age here, but not get to that feeble looking stage of elders in the game until around 80 or so. But for now, I have the elder stage set to around the equivalent of about 70 years. But regardless of when they turn elders, I enjoy having them able to do things like reminisce, show people pictures of their grandchildren, rant at the world with their cane, and just hang out with their spouse, cuddling on park benches, and making the most of whatever time they have left together.
One other thing I am thinking of changing is to get a mod to allow children to ride horses. Until their children were born, my current sims went for a horseback ride together every Saturday morning. Now that their children are old enough that they could ride in real life, I'd like to resume that family activity.