T.L.
My daughter has always had stranger danger. What we do with her is to tell her that mommy and daddy says it's ok to talk to that person and then we take her over to the person and say it is okay to be friends and say hello. We simply state first that she has stranger danger and that she needs to know it is OKAY. We usually ask the person to put his or her hand out for a "high five" and have them introduce themselves or have them ask if she remembers them and reintroduce themselves if she doesn't remember. What you could also do is give her a special bracelet to wear when family is around that helps her to feel safe. That way whenever she is wearing it she has something to feel and hold on to while she is aquainting herself with the family. Or allow her to hold a special blankie or doll. Good Luck!