Not a pro ... just some thoughts for when you talk with one:

If nothing is off limits, have you considered creating a master bedroom suite upstairs above the garage ?

Your drawing doesn't indicate from which side the vehicles enter the garage -- something which could make a huge difference as to whether or not this other idea is at all practical: Have you considered enclosing the exterior area between the garage and front door to make that a new front entry hall which would be the only connecting point between the garage and the house -- then adding a new porch/stoop entry? This could enable you to put a bath and one of the bedrooms against the garage wall -- away from the other one or two bedrooms (for more privacy).

Then you could put either one bedroom (with full bath) or two (children's) bedrooms (with a Jack&Jill bath) where the three bedrooms are now ?

With one master suite upstairs, you could even end up with the equivalent of three master suites

How many people live in your home and the ages of the children could make a difference in these decisions.

[Note: If changing the access between house and and garage appeals to you but altering the front to create a new entry garage/house connection (moving the door from the garage to the house to the front) is not practical, perhaps such an addition could be added at the back?]

Do let us know how your project progresses.

The view from the windows matters so it might not even be worth considering a total living/b bedroom swap but ... if you put the great room where the bedrooms are now located, you could put three bedrooms in a row w/two Jack&Jill baths -- one between the master bedroom and the boys room ("his") and one between the master bedroom and the girls room ("hers"). You could then utilize the bathroom plumbing pipes for your kitchen sink and dishwasher and ice maker.

Alternately, with a master bedroom suite above the garage, you could put only two bathrooms along what is now the great room wall with a Jack&Jill bath between them and no bathroom doors opening into the living area.

I wouldn't even suggest this living area / bedroom area swap except that with all three bedroom doors opening into a tiny hall, you'd likely have more sound privacy with the baths and closets between the bedrooms than the doors to all three bedrooms being adjacent.

I should have known when I said no change is off limits that I'd get ideas like putting things above the garage. I should have clarified, "within the existing constraints of the exterior walls and roof." I would love to put a master suite above the garage, but that would require removing the roof. I have done that once in my life, and I'm not keen on doing it again :)

The two garage doors are on the front side (bottom of sketch). The only other exit from the garage is the door opposite the entry door. I thought about enclosing the area between the garage and entry doors, but it seemed like a lot of work for not much benefit.

I'm not sure I understand the suggestion of putting a bedroom next to the garage wall - where would the kitchen go? Or were you saying to expand the house into the front yard?

Which area are you referring to as the great room? The living area with the fireplace?

If you are willing to change the windows on the top wall, I'd suggest putting the range on the exterior wall, for easy venting, and the DW and sink on the peninsula. The problem with this plan is that the clean-up zone and dish storage are in conflict with the prep area between the sink and range. In the second plan I put the fridge closer to the living areas for easier access, and put the sink and DW on an island. Dining area moves to the wasted space in front of the double doors.

I would try to locate the stacked W/D closer to the bedrooms.

Are you on a slab or a crawl?

Crawl