im in a similar situation sort of.
i have not been in my relationship for as long as you have though.
i have a child with my boyfriend, and we live with his brother and siter inlaw their 2 kids and the grandparents-my boyfriends parents- a big house!
my inlaws like to butt in to how i raise my child and do things, their way is always best, and what i have learnt is that everyone is a critic when you have children of your own.
you just have to tune out the bad and hear the good.
i know its hard and frustrating when everyone thinks their way is best all the time, but it help in making arguments less and less.
as for your love and sex life, have you considered talking or having regular appointments with a marriage/family counsellor?
it silly to let little fights get in the way of a long last family and love. fighting is what shapes a marriage and relationship, it is healthy to fight here and there...but maybe you two need some professional help understanding both parties points of view.
and if there is anyone in the world you could consider that for, it is your 2 children.
my boyfriend and i get into heated arguments from time to time, sometimes about his MIL butting in and controlling things, sometimes about why one person didnt put the dishes in the dishwasher instead of the sink or counter! my boyfriend knows how his mother is, and tries to make peace sometimes and sometimes he tells her to just leave it alone.
but i really think counselling for you and your wife and even your inlaws could help salvage your marriage and relationship between the inlaws.
all the best.