Relax autonomous action on bed?

Teen and children sims will sometimes do this when they get up or lie down. I think it has something to do with the way the sleep interaction works on the single bed because I've only ever seen them do on a single bed. I'm not sure if YA/Adults/Elders do it too since I almost never had them use single beds. Toddlers can also sit on their beds for extended periods of time when they're eating, chatting with a sim (though usually it's one that sat down after they were already on the bed) or being read a story.

I would love to see relaxing brought back and also one of my favorite Sims 3 actions which was reading in bed though I never could figure out how to get them to do that consistently. What I'd really love to see is them being able watch TV in bed while lying down even if it was something that was the result of the multi-tasking system stacking a relax on the bed and a watch TV action together.