Thankyou @Inogic,
This was very helpful. Based on my experimentation this seems like a viable approach.
I ultimately resolved the issue a different way.
Basically, I messed around with a bunch of stuff and something I did caused Power Pages to start appending a query string including the parent (i.e. task record) GUID when the user clicks the sub-grid create button.
So, the parent record GUID now appears in a query string when the Multi-step Form is opened, which means the parent record GUID can now be picked up using the Associated Table Reference feature in the Multi-step Form.
Unfortunately, I have no clue what I did to make this work, or why it wasn't doing it all along.
If I ever work it out I'll add an explanation.