Not sure how old your kids are, but mine are 7 and 11 and I would definitely NOT play BG3 with them. If it were a movie, I don't think it would even get an R rating given all the sex and gore.
(To be clear, not judging the game. I quite enjoy it. Just don't find it appropriate for my little ones. Caveat emptor.)
FWIW, I had a lot of fun playing thru Portal with my son. No official co-op mode in the first one, but the second one has it and it's pretty old at this point so should run fine on older machines.