Tube Stations with lift or escalator

A lot of Tube stations have stairs to enter the station, so even if you found out that there was an escalator down to the platform you might still have to negotiate a decent flight of steps as well. That’s why the step free guide is more useful.

Here is TfL level access guide/info.

https://tfl.gov.uk/transport-accessibility/wheelchair-access-and-avoiding-stairs

That guide indicates that neither Queensway or Bayswater is step free. However looking up each station individually on TfL shows that Queensway (but not Bayswater) does have a lift from the Ticket Hall. The alternative is to catch a bus from your hotel to the nearest step free tube.
Or a bus all the way- for instance the 148 goes from Queensway Tube to Victoria (for Buckingham Palace- it goes on to the South London suburb of Camberwell Green) then straight on to Westminster, including the Churchill War Rooms.
Or the 94 goes to Piccadilly Circus, change onto the 15 for St Paul's and the Tower of London- and you see more of the city than on the tube. All TfL buses are step free.
And they are free transfers within 1 hour.
The other bus from Queensway is the 390 down Oxford Street to Euston and Kings Cross.
So bus may be easier and less hassle for you generally than the tube.
EDITED- to add that the nearest step free station is at Bond Street (Bus 390 from your hotel), and this is the direct link to the map you need with all the detail on (the previous link was to the generic page)-https://content.tfl.gov.uk/step-free-tube-guide-map.pdf

"That guide indicates that neither Queensway or Bayswater is step free. However looking up each station individually on TfL shows that Queensway (but not Bayswater) does have a lift from the Ticket Hall."

The guide is correct, Queensway does not have level access as it has a flight of steps to reach the lifts.

The TfL journey planner has an option to select "escalators not stairs".

Underground stations such as Queensway from the Victorian and Edwardian era with lifts are generally because the stations were never converted to escalators being either relatively low usage or just an unsuitable site. They pretty much always have stairs as a queuing area.

The few exceptions are those remodelled in recent decades, like the aforementioned Green Park.

Thanks to all for ideas. We will be practicing with the journey planner to see what we can find.

As noted, even if you get into a "safe" station it's possible there will be small flights of stairs up and down.

Covent Garden has huge elevators and emergency stairs only.