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Dear Sean,
Yes, it is likely that Joseph had relatives and possibly even a home in Bethlehem, which is why he would have traveled there for the census (the word “inn” really is a narrow interpretation of a word that has more possibilities).
There is a good article on this subject here from Jimmy Akins of Catholic Answers.
Also, I don’t know of Catholic mystics who have spoken to this issue, but I would guess there are, though such reports are strictly private revelation and can only be considered non-binding on the faithful.
Peace,
Bob Kirby
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