Just want to put it out there- My neighbor's house is for sale & they built it when her paraplegic father lived with them! It's the PERFECT set up for you
Wontcha be my neighbor!
https://www.zillow.com/homedetails/4...83844832_zpid/
We lived with my inlaws while we were building our home & I agree with Wendy that clear boundaries & separate living spaces is very helpful. The kids were super little, so it was SO helpful to have those extra adults around during that time...