HI :) If they are "close relatives", yes you can stay together.
Close relatives exist if your relatives were living with you on 24.02.2022 or if they were wholly or mainly dependent on you as persons in need of care. Your children who have come of age while fleeing to Germany also remain with you as "close relatives".
Please inform the Aliens' Registration Office about existing family relationships at an early stage.
At present, it is not easy for the authorities to have a complete overview of family relationships and to take them into account.
I will be happy to help with any further questions! And hope you are well.
Kind regards