You have my sympathy, OP, as my inlaws also treat DH as if he were a child and are often critical of him in a patronising way, however my DH finds it very annoying too. It must be hard when you feel as though your DH won't support you.
I can't believe your PIL called your parents wanting to know what was happening because you and DH had refused their offer of a lift! And I agree it was out of order for them to call your DH, then you when he didn't answer, when you are on a weekend away for your anniversary - that's really not acceptable unless it was some kind of an emergency.
My FIL in particular wants to be overly involved in our life (we live 200 miles away from DH's family), but at the same time doesn't realise how this can create more distance. He has a habit of calling DH 'just to chat' at awkward times, like when DH is on his way to/ from work or at work. The thing that really annoyed me was that DH would complain about this, but when I suggested the obvious answer of not answering the phone, DH would get a bit huffy and say 'well, it could be an emergency' or 'he'll just call back'. Eventually he came round to the idea that it wouldn't be the end of the world if his dad had to leave a message.
While it might sound nice that FIL wants to speak to DH frequently, it's combined with this patronising attitude that DH is incapable of doing stuff, like DIY. For example, when we bought our first house it needed a lot of work done, so we stayed in our rented house for one month after the purchase. It was a very stressful time - money was tight, and DH was going to work, then doing a couple of hours at the new house, then coming home. Weekends were spent at the new house doing DIY. My FIL called DH every evening to find out what he'd been doing on the house. Every. Single. Evening. DH tried texting him with an update every evening, FIL would just call back to discuss the text. It was infuriating, but as FIL had offered to come up at the end if the month to help with fitting the bathroom, DH didn't feel he could say anything.
To be honest, that incident (and the attempt to change the seating plan at our tiny wedding to add BIL's girlfriend, who we had already added at the last minute and told FIL about), did change DH's attitude and he started seeing that his parents' behaviour wasn't ideal and their attitude to him could be poor.
I feel mean writing all this, because I do like my PIL and they are nice people, but their attitude to us (we're in our late 30s) can be really frustrating!