Gratuitous insertion of characters made to go into a specific fandom is hard. Mary Sues happen because the author is in love with (a) someone else's fictional universe and (b) an original character idea, and doesn't know how to go about making readers interested in the character.
If your characters are already well-rounded and three-dimensional, and if you've already written stories/RP/etc. about them, I don't see why it's tacky to use them in a crossover just because they're yours.
If you have an idea for a story, write it. Don't get into the habit of second-guessing your stories' quality before you even get them on paper. That's a sure way to develop chronic writer's block. Write the story, and if you don't want to publish or post it immediately, ask a trusted few readers for critique and be prepared for whatever they might say.
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