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What was the agreement in terms of your paying them back?
Did they ever once ask them to pay you back before now?
Did you ever pay them back anything towards this debt?
Are they asking you to pay them back or is it just your former spouse?
Do you have any assets?
It is likely the case that this is just coming from your ex-spouse and that her parents never expected to be paid back. It is not likely that they will sue you, and your ex-spouse cannot sue you for this money; only her parents can. If you receive a letter from the parents or a lawyer for the parents then it would make sense for you to pay a lawyer to write them back. The letter could state that all of these years this was a forgiven loan and that you never had any attention, nor do you now have the ability, to pay them back, and if they sue you you will declare bankruptcy. It is unlikely that they will sue you at the end of the day.
They have the basis for a lawsuit if this was a loan and not a gift.