This is based on an idea I got in a recent forum post, and it seems to work fairly well. This is a statue object, which can be purchased for free from the Decorations/Miscellaneous, that has two teleport commands available from it.
The basic "Teleport Sim" command will bring a sim to the location of that statue. The Sim will be reset to cancel whatever they may be doing (or else they would ignore the teleport) and be instantly moved to the destination replacing the statue.
The "Summon" version of teleportation will bring a sim from another lot, or a household member who is off lot. The Sim will be spawned and given an appropriate "visitor" role so they don't just try to leave. If the Sim was a member of the household and off to work or school, they will simply get their work-day cancelled normally and be pulled out of the rabbit hole.
