If you are okay (financially) with them leaving right away, I would let them know now. Just tell them that you know you won't be able to do it after your baby is born, and you wanted to give them enough notice to find someone else. Let them know that you don't want to lose them but don't want to compromise the care you give to all of the kids. There should be no hard feelings that way - you are giving them plenty of notice.

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