...we thought we were doing our son and daughter-in-law a favor by putting their name on the deed.
As you now apparently know, you were not really "doing them any favors" at all. Instead, you made them unknowing and unwilling (yet legally responsible) co-owners of something that they may very well want no part of either now or in the future.
More important now than unfortunate past actions is whether or not you have undertaken to correct
this situation by removing
them from the deed while you are still around to do so, something which is easily and inexpensively achieved with their cooperation.
Get it done. Don't leave this matter of "involuntary ownership" lurking as a potentially unwelcome and smelly albatross for your offspring to have to deal with when you depart this earth. Instead, leave them a choice
as to whether or not they want any part of this "inheritance". If you leave it to them in your will, they can then choose
to either accept or disclaim that inheritance. You basically deny them any choice at all in the matter if you unilaterally placed (...and now leave) their names on the deed, thereby making them "involuntary co-owners", even if they might actually have wanted no part of it whatsoever if they had been provided with a choice