I live near my in laws and had many assumptions about what life would be like. It isn't like that in the least! It's now been 5 years. In the first few months and first year I spoke my peace multiple times. I let them know I was the parent and in charge. I learned to let some things go.
If this was your husbands idea then he needs to be part of the solution . You need to speak up about the things that bother you. Your job as a mom is to protect your family.
The good and the bad come in waves...we are in a slump right now...but I try hard to make sure my kids don't hear my frustrations..we moved here to be closer to grandparents...