Remember that your husband has your back and you are both achieving a successful and gradual distancing - so lots of things to celebrate here!
It's understandable that your husband's mentally ill parents would accuse you of taking away their son - I mean, it's true, to a certain extent, and thank goodness you're doing it
So try to ignore their whining as much as possible, especially if your husband defends you, which is the most important thing for your marriage.