We live in different countries to the grandparents, with us in England, MIL in Scotland and my parents in N Ireland. However, with holiday plans scuppered, we are now on a fortnight's holiday spending a week visiting each. That involved a bit of uncertainty in the run up as to whether the differing regulations actually would allow for us to stay over - luckily they now do!
In both Scotland and N Ireland however the guidance is still to socially distance with those outside your household - we haven't hugged. The Scottish relatives are much more relaxed though than we've been (they've had quite a few people to visit their houses, and to stay; and my niece is under 11 where social distancing isn't required; we've had no one in our house apart from our cleaner, and arriving at MiL's in Scotland is the first time we've been in someone else's house for over four months).
It's lovely to see them but also feels awkward - my kids are teens so older, but DD1 can be prone to anxiety and is very much a stickler for the rules/guidance. She's been reading up to make sure she knows the guidance in the different locations (as have I) and is having to correct granny and auntie on things like still requiring to social distance even though we're able to stay over. It's all very low risk and no one has symptoms etc, and I'm confident we aren't increasing anyone's risk, but DD1 and I keep trying to maintain distance where we can and then Granny keeps getting too close e.g. trying to get past in the tiny kitchen rather than wait a moment for DD to finish up.
It's all a bit stressful - we're hoping to be outdoors as much as possible, and then at my parents' next week they have more space so that should be easier. I've also been saying to DD that we do need to relax a bit more within reason, while maintaining all the efforts where we can - she's back at school in a few weeks and will need to get used to being closer to people, and to more of them...