Why does TVA doesn't stop Doraemon and his friends from going back in time machine and changing things?
For me, the theory behind it is simple.
That which already happened cannot be altered. Whatever Doraemon or his so-called friends did was supposed to happen and that made the present what it is.
Time patrol allows anyone to visit past as a tourist and there are several instances of it. They stop or capture anyone who tries to meddle with time or who is a bad guy trying to use the time machine to do bad (here it is very objective).
Time patrol allowed Doraemon to assist Nobita and not any other kid even if they have descendants in the future. It is simple. The reason is in the past there is Doraemon and he and his friends did many things, saving and making friends with different species, alien races, sky people and many many, which itself is essential for future. There are cases where they saved the future from going extinct for humanity. So it is needed for them to meddle with the past. They did whatever they did only then the future they are in existed.
And there are many obvious restrictions which we didn't go deep into like Doraemon did only visit 22nd century and not past that.
One more important thing is that when Doraemon visited Nobita saying that he will marry geon sister in the future and that their descendants are poor. I just think that is a lie to convince Nobita to try hard. But the truth is that they just want Nobita to mature enough so that he can accomplish what he must accomplish for the future to exist. My reasoning is simple if Nobita married some other person instead of suzuka, Subaru will not exist (we saw what happens when his father almost woes a rich girl, butterfly effect, heck yeah) and whatever happened wouldn't have happened.
Or everything we saw can just be a dream (popular theory).