Previous solution are the way Odoo Studio does it.

A better solution would be:

<input type="checkbox" t-att-checked="doc.otros_familiares_en_casa"/>

<p class="form-check form-switch mb-0">
< t t-if="doc.field">
Yes:
<input type="checkbox"id="checkbox_field_true"checked="checked"/>   
No:
<input type="checkbox"id="checkbox_field_false"/>
t>
<t t-if="not doc.field">                                                        
Yes:
<input type="checkbox"id="checkbox_field_true"/>                                                        
No:
<input type="checkbox"id="checkbox_field_false"checked="checked"/>
t>
p>

<t if = "doc.otros_familiares_en_casa">

    <input type="checkbox" checked="checked">

<t/>

<t if != "doc.otros_familiares_en_casa">

    <input type="checkbox">

<t/>