Exactly this. If you need to step away, take care of something, or just need a break, that ought to be entirely acceptable.

The reason it seems like parents “get away with it” is because they push limits, because they have a priority higher than anything else related to employment. I have to go get those kids. Is that report urgent? Cool, I’ll get to it as soon as the literal humans whose lives are depending on me for basic survival are safe at home. Are you going to fire me for parenting?