Husband worked with someone with COVID

My husbands job hasn’t stopped working since the pandemic started. They’ve even had a few employees working after they had been exposed to someone with a positive test. My husband called me right now and told me a coworker he works very closely with daily tested positive. He got very sick over the 4th of July weekend. We’re 2 1/2 hours away from our families and we have 3 kids aged 3 1/2, 2 and 4 months old. We live in a small RV due to his job moving him around constantly so we can’t quarantine ourselves from him in here, it’s nearly impossible. I’m not sure if we should quarantine ourselves all together or if I should go back home to my parents for a bit. My only concern about going back home to them is that if we already have it I’ll be taking it home to them. I just don’t know what to do at this point I’m literally in tears scared for my babies