So... new variation on the problem. Right after HSY released, I couldn't get my Sim to put the toddler to bed or read the toddler to sleep unless both were already in the toddler's room. I did have one glitch where the adult Sim walked upstairs, forgetting the toddler, then went back down to get them and actually put them to bed, but I assumed this was because during testing I hadn't actually made a room for the toddler bed, just had Sims at bottom of stairs and bed at top.
However today - after a game repair and a reset of my Sims folder for unrelated reasons - I told an elder Sim to read her toddler grandson to sleep before remembering that was broken. But since she didn't immediately give a routing error, instead of canceling I waited to see what would happen. She walked out of the kitchen (away from the toddler who had been right in front of her) out a door and up the stairs, stopping just outside the toddler's room. Then she went back downstairs and actually successfully picked him up, carried him all the way back upstairs and through the doorway to his room, and put him down on the bed. Then she froze with "read to toddler" queued while the toddler (with nothing queued) got back out of bed and walked out of the room and down the hall to the top of the stairs. He didn't yet have the skill level to navigate stairs himself, so not sure if he would have continued if he did. But he froze there a moment, then finally queued "listen to story" and started walking back to his room. Grandma immediately sat down on the bed and started reading. When the toddler finally got there, he tucked himself in under her and then the animation finally proceeded as normal.
So not perfect. But... progress?