Hold on a second - if the child is born outside of Canada to permanent residents, the child will need to be sponsored for permanent residence in order to come to Canada. If the PRs come to Canada before the child is born, and the baby is born in Canada, it will be a Canadian citizen and, therefore, will not need to be sponsored.
So, you have the choice to come back to Canada prior to the birth so the child will be born a Canadian citizen - or you can choose to have the child born in your country and then you will have to sponsor him/her for permanent status. Permanent residents are required to be living and working in Canada in order to be eligible to sponsor other family members, including dependent children. That means that if the parents don't move to Canada before the child is born, one of them will have to come to Canada afterwards, and settle here in order to sponsor the child. Whether or not the child is admitted to Canada as a temporary resident before being granted permanent status is not guaranteed, regardless of whether the child is
visa-exempt to Canada or not. The family could be separated for the duration of the PR application for the child. If the intention is for the family to settle in Canada, then you should make that move before the child is born. If there is no intention to settle in Canada, then what's the point of having permanent status in Canada in the first place?