Caretakers stand and wait for infant to complete idles
This has been an issue since infants were released and it still hasn't been addressed. One of the major causes of caretakers standing around when they should be caring for infants seems to be that the infant's autonomous "watch" or "cry" interactions don't get interrupted by a caretaker trying to pick them up, which means that if an infant is crying (usually because they need care), the caretaker will stand and watch them until they're done unless the player switches to the infant to cancel the interaction.
If these interactions automatically stopped when a caretaker came to care for them, I think caring for infants would go much smoother.
Edit: The "Fuss" interaction also causes this issue. In general, I think infants' autonomous interactions should be automatically cancelled by user-directed interactions from a caretaker and currently they aren't.