Tell them that they have until a date two weeks from tomorrow to get their shyte out of your house and clean up their mess, because they're disgusting slobs.
Tell them that if they don't do it, you will call the salvation army to come and pick through their stuff to find anything useful, and a cleaning company to clean and sanitize the rooms, and you'll be sending the bill to them.
Being family doesn't excuse bad behavior, and you don't have to be nice or sympathetic because they're family.
Especially now that they're joking about it.
I'm sure your wife will understand, and if she doesn't then threaten to cut off the sex until the rooms are cleared, I'm sure your wife will find a sense of urgency over that.
I would literally kill for my family, but that doesn't mean that I have to accept them taking advantage of me, or acting like savages.
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My name is Ozymandias, King of Kings;
Look on my Works, ye Mighty, and despair!
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