ANSWER:
It doesn’t matter how you were in the past, what counts is your present and future. You must repent from your past sins sincerely with deep remorse and start observing the actual Islamic hijab in front of all non mahram males no matter what anyone says. You must not listen to your husband at all in this and you have no obligation in islam in listening to your in laws.
There’s no obedience to the created at the cost of disobedience to the Creator.
https://www.assimalhakeem.net/my-motherinlaw-is-bing-vry-aggressive-and-vile-towards-me-im-not-allowd-to-sit-with-the-family-eat-with-the-family-n-also-cook-for-my-husband-or-myself-she-says-i-cant-eat-the-food-she-makes-whe/