Fallingstar
When you refer to your father’s family, are they not related to you??
Just trying to figure that out.
But in reply to your dilemma, grasp the nettle and ring the relatives who visit asking innocently enough if they have seen the missing items, don’t accuse them but say that you might install a hidden camera in case someone has been coming in without your knowledge, a neighbour etc., and taking your fathers things. This should be enough to put the wind up them if they are culprits and put a stop to their shenanigans. But a hidden camera with vulnerable elderly relatives might actually be a good idea.
I agree about the camera, I don't know if you speak to them when they plan to visit your Father but you could just say 'Oh he's ok but we have had a camera fitted for his safety, we haven't told him about it but it means we can see each room in case he falls. That should make them wary of pocketing anything, OR you might find they return the item lest you have got them on camera !!!