Newborn during COVID

IN my household, we are fully vaccinated but also still wearing masks, social distancing, and not going anywhere that’s not necessary. My in-laws however are not at all careful. My question is how are other mamas/families dealing with this and a newborn? I hate being the bad guy and “keeping the grandkids from them” but I feel very strongly that their health is more important then hurting peoples feelings. Has anyone come up with a happy medium to please in-laws but not compromising and putting health at risk? Also, I live in Wisconsin so outdoor visits are no longer an option.