Can someone give me some advise please

My husband and I have really good relationship, almost 2 years ago my father in law moved in to our place and living with us, he is a real asshole . When he moved in to our place he couldn’t even talk properly cus of not taking his pills for long time and not going to the doctor and not taking care of himself so at the beginning we had (mostly me) to take him to the doctor twice a month and on top of it bloodwork every time. After 6 or 7 months he is back to his normal almost and start giving us really hard time, he doesn’t respect us at all. He told my husband you guys didn’t do anything for me (he was almost going homeless if we were not helping him). My brother in law and his wife don’t want him to their place even for a few days so he is 24/7 with us unfortunately..He won’t say hi or good morning,he would read our private letters, he would go to our bedroom when we are at work,he puts all his dishes in the sink for me to come back from work and wash them, I have to cook every day almost just cus of him and even we have food always in the fridge he would go and buy a garbage sandwich and tell my husband that your wife doesn’t cook 😱😱 my husband would take him to the fridge and take out all food and trough them on the table for him . He tries to listen to our conversation when my husband and I having private conversations even we went to garage to talk we saw him behind the door 😓 the MOST shocking thing is that he brings strangers (online sites) to our house when we are not home (we have cameras at home) and give everybody our address, this is so dangerous 😡😡 he is 100% unhygienic person . I don’t know what to do anymore. Please some advise. Thanks 🙏🏼