Thank you for sharing a glimpse of your life. I wonder if I would be more open to it if we lived with my parents, rather than my in-laws. There's certainly some emotional baggage with one's own parents, but I assume I'd feel less pressure to tiptoe around my mom versus my mother-in-law.
Multigenerational families living in one home are far less common in the U.S. Yet as my parents and my mother-in-law get older, my husband and I have talked about building a separate cottage (it's often referred to as an in-law unit!) for them to retire here where they can be close by, but not in the same space as us. Then we can make sure they're ok, feed them, but each still have private spaces. Not sure if we'll go through with it as they may end up wanting to stay in their own homes and hire home health care aides instead.