Also tiles in the children's room are not an option at all, sorry...
That's what I always thought too. But at the end of the day, we ended up with tiles: unfortunately, it is the only way to be 100% sure that nothing off-gases, since they consist 100% of clay and purely mineral components. Tiles have been used for centuries and have proven themselves. All the new types of flooring, just wait and see what people find out in 30 years about the "completely harmless" chemicals in vinyl, laminate, and design floors. I mean: not that long ago, people also thought asbestos was a great thing and formaldehyde in residential insulation was completely harmless. So far – as of today – I simply lack any long-term experience.
Untreated wooden floorboards are still an option for me (rather not with underfloor heating and risk of splinters), but even current real wood parquet is glued in several layers onto carrier boards (with what glue?) and additionally sealed on the surface.
Therefore: tiles with a tactile wood structure and play rugs on top in sizes suitable for cleaning or even for regular replacement.
I am absolutely not eco-friendly and am aware that "sustainability" in building materials is more marketing than anything else. But make a list of all types of flooring and evaluate the floors regarding all criteria important to you such as price, suitability for underfloor heating, comfort in summer/winter, durability, indoor health, installation costs, appearance, and so on and so forth. Tiles somehow always win narrowly here, because apart from being "cold to the feet when the underfloor heating is off," they have no real weaknesses but many advantages and are comparatively inexpensive.