My infant has reached some milestones but at this point won't anymore for 3 sim days.
I've done countless tummy time and learn to sit to unlock the creeping and sitting milestone. And had the infant look at toys on the play mat to unlock the grab milestone
When the infant is on the play mat or in the crib, the reaching a milestone action may appear. On the play mat, this action disappears again without actually reaching the milestone. In the crib, the infant sim gets stuck and I have to reset the infant.