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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).
Meanwhile, Teddy's mother's family was almost as prominent. T.R.'s mother, Mittie Bulloch, was the daughter of a wealthy southern gentleman and granddaughter of a Revolutionary War general. Theodore Roosevelt, Sr. , T.R.'s father, had primary responsibility for raising his children. His wife, Mittie, was a beautiful if stereotypical southern belle who had grown up dependent on slave labor. She didn't care for raising children or household management.