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As for moving to Florida, that's tough to advise. I'm take care of my folks from 600 miles away but I don't have the kin folk problems you have. I make trips and deal with various crisis. I'm not moving home but I know I will have to spend periods of time there as things get worse.
It doesn't sound like your in-laws have a lot of support. If you moved there are you prepared to be full-time caregivers? With children of your own that's a lot on your plate.
Besides houses with cottages attached you can also look for 2 family houses or houses with a mother-in-law suite attached. If you and your family do decide to move you can contact a real estate agent in FL and try to find what you need.
Do you have kids? Are they grown? In college? Do they live with you? Near you?
Do either of you have jobs you can leave? If you're working, can you get jobs where your parents are located?
Do you have a house you'd have to sell?
Would it be easier to move you parents?
How bad off are your parents right now? Is mom caring for dad? Do they need in-home help while all of these other life decisions are being made?