One property, two owners, and a building divided so that each household has a home of its own and a door of its own. What makes it hold together is a written co-ownership agreement and a settled answer on the mortgage, both dealt with before you buy rather than after.

Most of the difficulty people expect comes from doing these steps out of order, usually by finding a property before settling the money and the exit.
These are the questions that decide whether the arrangement holds, and they are all cheaper to answer now than later.
It is a screened process with a decision point at every stage, and either side can stop at any of them. First comes a questionnaire: what you can spend, when you want to move, the areas you would consider, and the everyday habits that decide whether two households can live alongside each other. Then a criminal record check, then a phone interview. If that goes well, each household receives a short summary of the other, stripped of surnames and of anything about their money.
No identifying detail changes hands unless both households have said yes, and the coffee is arranged only after that. Declining needs no explanation, which is deliberate: a matching process only works if saying no is easy.
What you gain is a detached property on one household's share rather than one household's whole budget, plus a yard and the floor area of a house, and proximity to family without a shared front door.
What you take on is a co-owner. Selling is a negotiation rather than a decision, refinancing usually involves both households, and the arrangement has to be written down instead of understood. If you want it to stay informal, this is the wrong structure, and that is a reason to say so now rather than at the lawyer's office.
One next step
Answer the questionnaire and Cam looks for a household that fits how you actually live. No introduction happens without a yes from both households first.