That said, the FCC tossed in a little blurb about 'emergencies' and you can pretty much transmit on whatever in an emergency.
Just to clarify, emergency being immediate/ imminent threat of life ,and no other legal means of communication. Health and welfare (honey are you Ok, meet me at place x) does not qualify.
If your family is in trouble, do what you need to do, regardless of possible consequences.
Using handheld Baofengs on GMRS frequencies, without a license is illegal. Even if you are using them daily, if you stay off of repeaters and don't intentionally agitate people, the chances of being caught, much less fined, are practically zero. Get on repeaters without permission, especially if unlicensed, someone has motivation to find you.
MURS, if you stay low power nobody will be looking for you or what type of radio you are using. Commercial type accepted radios are not much more and would be legal. Same with Itinerant Commercial Color Dot frequencies. Very seldom does anyone ID with a call sign. Low power and you would be unnoticed with daily use.
Hams are very protective of their frequencies, intrude at your own risk. True emergency, life threatening, they would be most likely be glad to help.
Public Safety, really at your own risk, unless you are a member of the agency. Even if true immediate life threatening, if any other means/ frequency was possible, expect legal trouble.
VHF Marine, might be tempting given the OPs location. Proceed with caution. True emergency, summoning help probably no consequences. Other uses could be problematic, definitely daily use would likely get you in trouble.
Please understand, the above is not advocating illegal radio use. More along the lines of a risk assessment. I am a licensed ham, use MURS with Part 90 radios radios within legal power for use with non-hams. I do not operate illegally.