I think it is alrdy highly impossible to have no sex for 2-3 years and maybe ur husband is really that good then I think u shouldn't make things anymore difficult. The very least u can do is to slowly be progressive towards it? More hugs and kisses and longing hugs that is above sex kind but from the way u describe the family atmosphere it sounds impossible. So make time for couple time - dinner / go to the beach or something. Lack of sex is a common reason for pple to want to leave the relationship eventually ya - so don't wait till that happens
As for mil and living w others, bound to have friction - it's only human that somethings will irritate us because they are just not ourself or our husband. Try to one ear in one ear out. Focus on what's important and what u want from it all - a intact family
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