For your bathroom you need an up to date light fixture, as the one you have provides more glare than useful light and is out of style. Looks like grey and beige are the colors of the permanent installations, so if your floor is staying, go with the grey/beige theme. Check out greige - a lot of shades that are based on grey and beige. I would paint the bath and bedroom walls with a greige. install new towel bars and light, put a roman style shade in the window. Ideally, I'd prefer to see the sink base and trim painted white, but if you're not doing the trim throughout the house, it should be left as is. For the sink base you might try and match a more grey shade of greige paint to the tub tile so the two chunky anchor pieces look consistent. What is the metallic folding door looking item to the right in the tub picture? Can that be removed? I'd suggest replacing all the fixtures, but your tub mount looks to be narrow and tricky. If you're replacing the tub though, get new faucets for all. If you don't like the large mirror you can remove and replace it but may have to work the wall a bit. You can also mount a decorative mirror on the plate mirror.

Chairs - you need chairs at the fireplace - armchairs with a big ottoman to go in front of the fire maybe covered in vinyl / pleather so put a tray on top of the ottoman for glasses. Think about a chair that would feel like a reading chair to you. Ikea ektorp chairs with slipcovers are really comfy and slipcovers are terrific when you have kids of a certain age. Take the longest sofa and face it to / center it on the fireplace. When you walk in the doorway, you'll be walking in just in front of the sofa. Lose the loveseat. behind the sofa, try a desk as a sofa table with two lamps straight chairs. On the wall where you have all the furniture lined up, put cube toy storage on the wall and float a big plush rug behind the desk - that can be your toy play zone. Put the kids armchairs under the pretty window. Love the olive. Gray and olive don't work well. Golds, red accents are terrific with greens and lichens.

hillsborough beige is quite dark . .you have so much natural light it may work for you, but it is under 40 LRV - test also bm hampshire taupe . . especially next to the wood cabinets. . http://www.benjaminmoore.com/en-us/paint-color/hampshiretaupe or possibly bm greige avenue consider using a darker shade of whatever neutral you pick on the island front and possibly painting the door to the pantry one of the dark blue greens from the fabric so it doesn't jump forward there . . .something like bm bella blue - http://www.benjaminmoore.com/en-us/paint-color/bellablue

The space seems dark enough, so paint should stay on the lighter end of the swatch. Replace the mirror with two framed mirrors and update the lighting (it's not shown in the picture) accordingly. If possible, the best direction for updating the lighting would be to have it at each sink -- but if that's not possible updating it would still do a lot for the space.