The separate closed off guest suites in some of the designer models (Gardenia, Begonia, Lilac, Iris) would work if you don't mind giving up the 3rd bedroom as a living area for your in-laws. That way they have a bedroom, bath and living area totally separate and private from your area.
Besides the Zinnia, there are quite a few new designer models with 3BR/3BA available now, especially if you have other guests coming throughout the year where the 3rd full bath would come in handy. If you haven't looked in awhile, there are a lot more options out there now than there used to be.
Just one more thing - you mentioned you didn't necessarily need a separate house for them, but if you decide to consider that route, a patio villa neighborhood near you could be an ideal situation. I know other Villagers who have brought their parent(s) down and settled them in a patio villa in the village where they live. It has worked out well for them. But only you know, of course, if that would work in your situation.
Wishing you all the best in your decisions regarding this situation.
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