Your instincts were correct! Continue not to initiate communication, if they ask why you haven’t messages just say you have been very busy with dh and the children and leave at that.
No more meet ups, invites or making any kind of effort. It’s utterly futile and will destroy your self esteem.
It’s great news that your family are so involved. Try to be sensitive around your dh, he will be able to see the difference for himself, and this is likely to bring up very painful feelings for him. It would be great if your parents can embrace him, then he will feel he has parental figures and real value within the family, even if it doesn’t exist for him with his own parents.
Never say anything unkind about them, as much as you might want to. He has lived with their inadequate parenting all of his life, but it’s hard initially facing up to just how bad they really are, and it may make him defensive, and cause problems for you both.
You can really make all the difference op, support him, try to get him into counselling. Emotional neglect can continue through generations and it’s important he does not continue the cycle with your children.
When your baby arrives - a factual text should be sent and nothing more. Celebrate the birth with those that love you and don’t expect them to care, they won’t. Acceptance is key.
So many people are in the same position, and we have gone on to lead very happy and contented lives. Grandparents are a bonus that’s all. What really matters now are your children and your marriage.💐💐