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A lender is going to look to see at least a 2 bedroom home if parents with a grown daughter are buying and saying they will all live there.
Speak with a mortgage officer (you can call me) to check your credit reports to see who qualifies for a mortgage. The ones who have a good enough credit report would need to qualify on their income. If not all 3 on the mortgage, all 3 can be on the deed.
A FHA loan for instance will typically need a 620 credit score as of when I write this. Any borrower with a score lower would need to have some credit repair done (if there is an opportunity to do so) or you'd just go with the remaining qualifying borrowers. If you have some time before you're looking to buy, you could work on a few things to up your credit score.
If you're seeking the later, you'll need to have a tailor-made solution for the affected credit reports. There isn't any guarantee for immediate results (unless there's an obvious error) but with time and following a strict formula, those scores will improve to the target score. Your other option is to consult with a credit repair company who does this for a living but will charge a fee but will usually do a lot more work for you along with their fee.
Any other loan officer with an in-depth knowledge of credit repair would also be able to provide limited advice to repair a prospective borrower's credit although not every lender will allow their loan officers to do so
There is no limit to the number of people who can purchase a home together. Talk to a mortgage broker or the loan department at your bank to see the best way to move forward.