Include heavy work- the magic sauce of self regulation. Get your toddler to help you push, pull, carry items to the bathroom or have them crawl like a crab or hop like a bunny to the bathroom. Not only does this make the transition more fun, but it offers them proprioceptive input, which is calming to the nervous system.
If you have a bed time routine your child looks forward to (cuddles, books, songs), talk about it right before you go to bath. For example “What book do you want to read for bed tonight? [they answer] Oh that sounds great! Ok, time to hop to the bath now so we can have time to read that book after”.
Recruit them to help pick out what bath toys they get to have in the bath tonight (it helps if you switch out bath toys to keep it exciting, maybe you could switch between the different GloPals characters!)
Utilize a visual schedule and visual timers throughout the day. Even if your toddler is already speaking, visual charts and visual schedules can help them process the day, even if it’s the same schedule everyday. Remember, their executive functioning skills are still developing, and visual supports help them.