You don’t need 2 bathrooms on the upper floor. Even if the parents sleep upstairs, especially only temporarily. By the time the kids use a kids’ bathroom, they are older and either you or the teenager is downstairs. I would plan the ground floor anew.
Then it is basically what it is now. Remove the wall between the bedroom and the dressing room, and you have a flexible room. A study or a room with two possible working areas. Or a children’s room or parents’ area or whatever.
It is an experiment with sleeping downstairs. Assuming that children live at home possibly even during university, the period in which the concept fits is longer than the period in which there could be problems (until toddler age). And as I said: moving the bedroom upstairs would be feasible without any problem. Then there would only be the master bathroom downstairs, like a typical shower bathroom on the ground floor.