Question on Covid19. Are asymptomatic?

My wife and 3.5yrs old daughter had visited their native in may2020. First week of jun2020, along with my wife and daughter my in-laws also contracted Covid19, all of them had mild symptoms, my in-laws and daughter got recovered within 1 week, my wife had some breathing issue and also she had lost taste and smell. All of them were in home quarantine and my father in law (he is a general physician) treated the family members for their symptoms. In the beginning of sep2020 all of them underwent Covid19 antibody igG test , All of them tested positive. I stay here in Bangalore with my parents who are both over 65yrs old. My question is is it safe to bring nack my wife and daughter here to Bangalore? Is there any risk of me and my parents getting infection from my wife and daughter? Is there any chance they are asymptomatic? Please guide me,I am in a extream confusion and delemma.