To be honest, I don't know what to make of your floor plan. I've rarely seen one so complicated, convoluted, and (from my perspective) impractical.
What do you mean by that?
What Wanderdüne probably means is that the two bedrooms and bathrooms on the ground floor are anything but age-appropriate. With a walking aid or wheelchair, you will hardly get into the bedrooms or even into one of the bathrooms! For a healthy person without mobility restrictions, the space is already very tight.
Do you have separate bedrooms and have never seen each other naked? Or why isn’t one shared bathroom and bedroom enough here? And the walk-in closet is probably more of a joke than age-appropriate. I don't know if you'll still be able to put on your pants or shoes standing up without falling when you get older. Age-appropriate living for me means having at least 100 cm of space around the bed on all sides, a chair or armchair for dressing, and the wardrobe in the bedroom so I don't have to walk far. The bathroom should ideally have both a bathtub and a shower (at least a large shower with a seat). Also here, there should be a seating option and a support bar so that no one falls while drying off. There should also be space for a second person, because you might no longer be able to get into the bathroom by yourself when you're older.
And upstairs? There will be conflicts among the children. Or why does Child1 get a walk-in closet and a shower bathroom, and Child2 only a totally cramped children's room? Both hallways upstairs have no natural light – okay – you can live with that – but for me it's a no-go.
If you want to build a two-generation house, I would build it so that the "old" live downstairs and the "young" upstairs in your place. That would save you a lot of money (bathrooms and stairs) and would definitely be more age-appropriate. So everything back to square one and start again.....