I don’t have kids. I have a partner with some very not fun medical conditions.
I have never had any issues getting “dinged” for the fact that I have to stop work at a specific time because meds need to be taken with food. I communicate it clearly to my peers and managers.
In the last couple months I’ve had to miss days to deal with doctors sometimes on zero notice (as in I actually responded to a question from my boss with “uh if this is urgent here’s my cell call in about 30 and I can discuss it but I have to take my other half to the doctor”)
Some of this is being willing to admit it and just simply ask. I didn’t once and tried to work through it and my boss at the time reamed me out for it.
But I’d also never think twice if a coworker said “I gotta take off early, got a date”. Life happens, as long as nobody is outright abusing it who cares?
It sounds like in the situation you described people are abusing it and the managers are just not paying much attention.