You should get it comfortable enough for a couple of overnighters first, then see how the family feel, for sure, it's not unreasonable for them to not share your love of boating.
My wife has lived aboard with me, then we moved to a house, and now she'd never move back onto a boat. In fact, neither she or the kids have much interest in sailing.
Now for a Bahamas trip, I either go solo or sail over with a buddy, who flies back, then the family joins me. That way we all enjoy it.
the last thing you want is to be on a boat with someone that doesn't want to be there.