First, sorry to answer this 9 years late, but it's here if anyone else gets confused.
You're close, but the two youngest are related as full siblings to each other. The speech that lists the relationships started after Joe was asked about his "stepmother" and said that she wasn't really his stepmother:
"Uh, no, she's my stepmother, once removed. She married my stepfather after, uh, my real mother divorced Margaret's stepfather and moved to Maine with the man from the insurance company. My grandfather was actually no relation. He was, uh, my stepmother's father-in-law from the previous marriage, the one that spun the little ones."
So Joe and Margaret definitely are not related, Danielle and Pete are, and we don't know if there might be a half-connection between them and either Margaret or Joe.
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