Help I’m so frustrated right now

Hey Mamas I need y’all help I’m a bit frustrated and I need some advise. So my husband and I decided to move my father in-law in with us so that he can help take care of our son who is 3 years old and our daughter who was born on May 16th. Before he moved in it sounded like a great idea because we wouldn’t have to go pick the kids up from his house anymore after work and it would save us some time. Plus this moved will help us all be more financially stable. But now that he is moved in I can’t shake off the fact that I no longer have my privacy and the free will to do what ever I want in my own house. And he also doesn’t drive so we have to take him every where. Now it’s messing with our marriage and I just don’t know what to do or how to handle it please give me some advice cause I don’t know how long I can live like this.