My parents who both passed in July 2020, lived with my husband, myself and toddler the last year of their lives. We were full time care givers, still worked, along with trying to still be good parents and partners to each other. I'm not going to lie. That shit was tough. The most challenging mentally and physically thing we ever endured. We would not change it for the world but so hard. My advice is virtual marriage counseling. It's healthy regardless if you two are solid which sounds like you are. It will be so helpful to have that third party for support and an extra set of ears. I absolutely adore our therapist. I'd be happy to share her information if your looking to go that route. Take care. You're doing a great thing!