
Reading should be: "たかし、もう おふろ に はいった?"

Hmm... Is there a way to know more specifically in which case 入る is read as いる, and in which case it is read as はいる?

You mean general rules? Not that I know of.

I guess the default is はいる.いる usually occurs when combined with a noun, e.g. 婿入り むこいり "to marry into a family",箱入り娘 "daughter-put-in-a-box".
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