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I'm not expecting you to accept what I say now, this is just what I believe (and others who interpret the Bible in a like minded way and have faith in it) and I'm sorry if it's hard to swallow. Man was created free from sin, and in a sinless world, there would be no problem with multiplying from other perfect men and women. However, as everyone knows the story, Eve ate from the forbidden fruit and Adam followed suit and they became tainted with sin and evil crept into mankind. Even after this event, we were not such an imperfect race that sexual relations between close relatives would have caused the genetic problems that inbreeding now does.
However, in Leviticus God told Moses that incestuous relationships were forbidden, and indeed religious or not, most people accept that today it would be wrong from the genetic point of view if nothing else.
So the answer to your question in a nutshell is, yes relationships with family members were fine in the days following Adam and Eve, but that was not the case post Mosaic law.
Good thing God changed his mind !. And yeah... no "in laws" in heaven !