ESTA visitor after their daughter adjusted status from a non-immigrant visa?

A friend of ours adjusted status from a non immigrant visa years ago after meeting someone (J1, B1, then got married and decided to stay on one of the visits and adjusted and is now LPR for several years).

Her parents want to visit via an ESTA now that borders are reopening. Will this end up posing an issue? Would you recommend they apply for a visitor visa (even though their country of origin is on the ESTA list) for the opportunity to show more ties to their home country (two homes, a business, etc..)?

submitted by /u/GNU_Yorker
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source https://www.reddit.com/r/immigration/comments/qk29he/esta_visitor_after_their_daughter_adjusted_status/

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