Yes! I'll look this evening. Charinidae aren't studied very much, but most if not all Amblypygi exhibit the same traits except smaller broods.

While not an insect but an arachnid, quite a few Amblypygi species fit the bill.

Primarily in the genus Charinidae - because they are small and slow growing, their broods are small among the group and their babies are relatively large. The mother stays with the brood for a number of weeks.

They also display parental care and limited eusociality.