I play large households of 4 to 8 sims with aging on, so sometimes I do feel rushed. But that's only because I'm trying to manage grades, jobs, skills, hobbies, romantic relationships and friendships for all of them.
Now, I only have 4 so I feel super at ease and they have a sort of schedule. First, I make sure my sims have the best beds so that they don't need much rest and can get up early. Before 8, I make sure everyone gets any leftover tasks finished and all needs are green. Then, while the child is at school, they clean/manage the house with the butler's help, do any work from home tasks, and do general money making tasks (gardening, painting, etc.) because they live a fancy lifestyle and need a lot of money to support it.
When the kid comes home, they may spend a few hours helping her with homework and helping her build skills. I've found that it really helps to have sims do things together. This kid is only a few days into her childhood, but has easily completed one of the childhood aspirations already, is at level 7 in an adult version of the skill (she got 10 creativity and is now at 7 in the real one) and well on her way to completing another childhood aspiration. Building skills while young gives them more time to relax later and my child sim still plays and has friends.
After helping her, I let my sims go out to do fun activities or socialize.
I dont play on long but I think doing that or adding days to lifestages with a mod would help with rushing too.