I think this is just one of those things where everyone has an opinion (sometimes a strong opinion) and no one really has any proof of what is better or worse. I think it depends largely on the child. My son was always clingy and frightened of strangers. I work, but only on days when my husband or mum can watch him. It would have broken my heart to send him to daycare where I know he would have just cried all day.
On the other hand, I know other kids who love daycare from day 1 and have thrived in that environment. Of course that doesn't really apply to you because your family watch him but my point is you do what you need to do. It's no one else's business.