Event visibility based on individual family members

We have people with individual memberships grouped together as families (not family membership).  When setting up junior programs for children, currently the only way for the parent in the family to see the event in order to register for their child is for us to include the parent's membership type in the "Event Setup" by membership tab.  Then we use age restriction to ensure that the adults cannot sign up themselves.  

It would be great if we could setup the membership types just for the targeted groups (e.g. juniors) and let any adult with a family member matching that membership type see the event in the event list and be able to register their family member (ie their child) for it.  There should still be checks to only allow registration for the specified types though.  Please advise whether this is possible?