Cats going #1 and #2 everywhere after baby

We had one elderly cat we adore. We got a set of brothers kittens after getting married for a total of three cats. Couple years later we had our first, second, and now third baby. The older cat is so good. The younger pair are the worst. They are about six years old now. They hate the kids. They pee everywhere. I find poop piles everywhere. I have to lock my kids doors or they poop in their beds. We had to get child proof locks to keep them out of rooms in the house because they can open up doors. We change our litter from three boxes daily. Doesn't matter. After the birth of our newest baby they have become the worst. I'm a stay at home mom so I do give them attention. I'm just at my wits end what can we do? My husband wants them gone and out of our home. I don't blame us they are destructive and no one enjoys them for their horrible behavior. We tried so hard to be a good home it's never worked. The cats have no interest in being outdoor cats either as we live rural most neighbors have theirs outside ours refuse. What can we do? I feel like we've committed to them however my kids and husband deserve to live in a home that isn't covered in pee or poop. I am a clean freak so it's really bothersome. We've owned many cats and have never had this issue before. The cats hate our kids help!

Cats have been to the vet they are healthy.

These cats came from a rescue and I'm afraid they were not socializing them there well enough their mom was feral cat and they are just wild. These are not the cats that are affectionate. In our last home before kids they had issues with the kids it just got worse. I think they need a different home then ours. We socialize have loud kids and that isn't going to change.