I am going with my family to my married daughter for Yom Tov. How can I be included in their Eiruv Tavshilin?
Do they give me the Eiruv to pick up?
Yes, that works.
When making their Eruv they give it usually to someone else to pick on behalf of the entire city. In this case, you should pick it up and have in mind the entire city and specifically yourself.
ראה בארוכה קונטרס באתרא דרב חו׳ ב.