Knocking a door from the living room into that hallway would alleviate at least some of the flow issues with the house and it has obviously been remodeled recently so you have to wonder why someone didn't do that.

If the structure allowed for it I'd probably scrap that middle bedroom entirely and open that space up to the kitchen and living room so you'd have access to the other bedrooms through the hall. Then lop off part of the current living room to give a bathroom to the master bedroom. That also gives you access to the half bath from the living area rather than people having to run around through the laundry and bonus room.