They are never going to feel the same way about the situation as you do. Clearly they don't think it's a big deal, since they are joking about it.
Is your wife on the same page as you? Because it's her family, if she agrees with you, you can do something. If it will cause issues with her, maybe you just put up with it.
Then you need to decide how much time and money you want to put into it. Either box up their stuff yourself or hire someone and then drop it off on their door step or a storage unit. You could send them a bill, but their speed at paying it will likely match their speed at clearing out their stuff. You could also sort it and give the good stuff to charity, but please don't dump boxes at the salvation army if half the stuff in them is junk. That just wastes their limited resources sorting and disposing of the stuff they can't use.
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