I need opinions - covid testing/quarantine

Hi ladies, I am really struggling today emotionally with all these hormones. I am 38w 2 and this is my third baby. My husband and I have been super careful from the beginning of Covid with going out and things. We did let up with a friend of mine who is also a stay at home mom and seems to be on the same wavelength with her husband working from home too. We have only done things outside and have tried to keep our kids as separated as possible. Anyways, my husband had said earlier that come August we were going to “shut down” again as our baby is about to be born. We have allowed my parents to come down from pennsylvania (south western part of the state) and we visited them back end of May. My Mom was supposed to be the one who we would call to come watch my two kids while I am in labor. My husband had been ranting about having family take the Covid tests before visiting. His parents live across the country and plan to drive to visit the baby and us. I have felt like the test would be stupid be you take it and can get the virus while driving across country. This is maybe partly my fault not having my mom take a test sooner but she hasn’t been letting my dad go anywhere Bc she didn’t want to be exposed so she can help with my older two kids. I called my parents yesterday to tell them my husband wants them to take a test before coming and they are saying the doctors office and cvs are saying you have to have symptoms or have a prescription...you can’t just get a test and or the results will take 2 weeks or more Bc of the high demand. My dad was also going on about it costing them a lot of money too. I am extremely frustrated Bc my husband has let us go for walks in areas around people (with masks on) and even attending a friends son birthday party end of July. Sooo now he says my mom cannot come down without a test and the plan is to have my friend who just got results of her test today (got the test yesterday). My concern is I wasn’t planning on using her as the main option. She was just the immediate person until my mom could get down here (4 hr drive). I would love to hear your thoughts. Please be kind...I feel my parents have gotten the short end of the stick with my first two children’s’ births...we lived back in my husbands hometown out west. I am not trying to downplay Covid or the concern of my children’s’ health. I just want to feel NOT stressed about taking advantage of my friend and hurting my parents feelings.