Well no 'yaoi' is kid friendly so heres some very light smuts and shounen ai's
https://www.mangago.zone/read-manga/kimi_no_yoru_ni_fureru/ https://www.mangago.zone/read-manga/bokura_no_shokutaku/ https://www.mangago.zone/read-manga/houkago_no_etude/ https://www.mangago.zone/read-manga/everyday_is_a_good_day/ https://www.mangago.zone/read-manga/peach_and_her_papas/
the closest thing i can suggest is https://www.mangago.zone/read-manga/boku_no_papa_to_papa_no_hanashi/ since it has a family oriented plot
Go for it, Nakamura!
OH YES THAT ONE IS SO CUTE
cute Yaoi to read with the fam