Redundancy is not bad practice. The majority of everything we say or write is superfluous, redundant, or pointless. 90% of your question is pointless and redundant. 90% of this answer is. However, it is not a rule of English (or any language) that everything that can be reworded must be reworded, and everything that can be removed must be removed. Pointlessness and redundancy are not wrong, they are merely pointless and redundant.
As to grammaticality, absolutely any pair of noun phrases connected by an and is equally grammatical English. That includes a husband and his wife, a husband and his husband, a husband and my mathematics, a husband and two Russians, and a husband and your insanely speedy frog sleeve bucket. To you, or even to everyone, some of these may make less sense than others, but that has no bearing whatsoever on the fact that they are grammatically impeccable English.
With that out of the way, let's turn to the elephant in the room here.
Why would you want to replace the first term anyway? More often than not that will be plain impossible. That's not how language works. How it works is that you're talking about that cool new series, and you start by saying, "oh, you know that cool new series about a husband and..." and then you realize that now you will have to mention his wife as well, but you can't go back and turn him into something else anymore. You have already said "a husband". So if you now want to avoid the awkwardness of saying "a husband and his wife", you can only do that by changing the second term, the one you've not put in words just yet.
So, what do you say, then? "A husband and his... um, spouse"? "A husband and his, um, better half"? "A husband and his... woman"? That's even worse than "a husband and his wife".
Same for "a daughter and her father". If you happen to have said "a girl and her father" in the first place, you're fine. But if you've already begun by saying "a daughter and", then how do you go on to fix it on the fly? "A daughter and that man whose daughter she is"? "A daughter and her male ancestor"? "A daughter and the grown-up man of whom she's in direct lineage"? "A daughter and the dude whose loins she's the fruit of"?
So saying "a daughter and her father" is actually the best alternative you have at that point.
And you can't even completely drop him from the sentence, either, because you do want to talk about two people, not one. The daughter wasn't there all alone. Just like that cool new series is not about the husband and nobody else.
Now, of course if we are talking exclusively about written language that you can go back and edit, then yes, it's obviously stylistically preferable to say "a girl and her father", or something to that extent. But, even so, as a quick reminder: style is not grammar. Nobody is under any obligation to follow a style that you or I happen to like. Just like nobody is under any obligation to only wear shoes of your favorite color, or my favorite size. Or any shoes at all, for that matter.