How do you cope with a live in elderly FIL?

He is not a bad man. He is 85 and is in need of attention. I work from home as does my husband. Every morning when he hears me in kitchen getting coffee he comes out to talk. When I come downstairs for lunch with husband he joins us. I cook dinner for him and the three of us eat dinner together every night. Then he hangs around his son and I until we go to bed. He gets our mail everyday and sorts it out. He makes his bed. That’s the only chores he does around house. I buy his food, pay for any dry cleaning etc. Husband takes him to all his appointments. I do understand his brain is aging. I feel sorry he has no one else. I think it’s sad he isn’t involved with any activities. I am getting tired of his constant presence and the attention he takes away from my husband that I would like. I feel so bad feeling this way. I am also resentful of husband not arranging for a care giver or support type person to come in a couple or few days a week to drive FIL around to barber, podiatrist, store, etc as well as bring in someone to be a paid companion. Is it normal for me to be feeling resentful of an old man that is 85 and also resentful his son is taking me for granted by not getting someone in? Is this burnout or am I being selfish and unloving?