Can you sell their house and then get a new one with an in-law ADU? I would think everyone would still want some of their own space?
Can you afford to buy their house? Depending on their health situation, would they ever need to cash out of their house to fund nursing home support? If it’s a higher cost of living place, would you risk not being able to afford to stay there once they die or need to sell their house? Does your husband have siblings and how does this fit in with their expectations?
I think multi-generational living is really beautiful, but all parties need to go into this being able to discuss upfront the potential areas that could lead to conflict: childcare, privacy, financial implications, decisions about the house (can you change furniture/ decorating, etc.).