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I believe the toddler sleepy mat found
here has that option? Or, at least, you can simply click the cancel the "sleep" interaction and the toddler will wake up. That's how it works in my game; I never try clicking on actual sims and selecting "wake up," but cancelling the action on that sleepy mat will work exactly like cancelling the action on a sim sleeping in a be: the sim wakes up and then can be directed to do other things.