The ex-husband is still trying to control her. Their children should be able to visit their extended family with their mother since there is a good relationship between them.
Please see this for what it is. He's just trying to control you. It could also be that he's jealous. Since you have kids, there will be times that interactions with his family are inevitable so you may as well keep the relationships at a comfortable level for you whether or not the ex 'approves'.
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