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Yes. In relation to Theodore, Franklin Roosevelt was a distant cousin who later become a nephew-in-law, when he married Teddy's niece, Anna Eleanor Roosevelt. Franklin and Theodore Roosevelt were both descendants from Dutch colonists, who settled in the New York area in the mid-17th century. According to any Franklin Roosevelt biography, the two were fifth cousins, having a paternal relative in common (Nicholas Roosevelt, 1658-1742).
Lucy was with FDR on the day he died. Despite this, FDR's affair was not widely known until the 1960s. Roosevelt's son Elliott said that Franklin also had a 20-year affair with his private secretary Marguerite Missy LeHand.