There are so many other hills to die on. If your kid is in comfy clothes ( I would not let a child sleep in jeans), who really cares?
Assuming you get a clean diaper on the child, they don't smell like urine and they don't show up soaked, I wouldn't have a problem with it.
One child might only take 5 mins...though honestly, I haven't met one you could change and dress in 5 mins. If you have 3 or 4 kids to get ready, you are looking at an hour at best.

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