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Hey ! Nice to see some movement around this question !

Since I posted, we found a neat solution that works great for us : using the /**: syntax in the .yaml params file, where ** matches the names of all the nodes :

params/simulation.yaml

---
/**:
    ros__parameters:
        use_sim_time: true

launch/do_stuff.launch.py

import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    """Launch stuff using ROS 2."""
    params = os.path.join(get_package_share_directory('your_package'), 'params', 'simulation.yaml')

    return LaunchDescription([
        Node(
            package='stuff',
            executable='do_stuff_node',
            name='do_stuff',
            parameters=[params],
            output='screen'),
    ])