" I hate that I’ve been put in this situation of either hurting their feelings or putting up with a situation I’m really not comfortable with"
Do not put their feelings above your own.
If you can't put yourself first when you've just had a baby then when the hell can you?
I'm sure as your parents they probably think that they won't be in the way in fact will be helpful & watch baby so that you can shower etc, but it's not about that is it?
But tbh I think most of us manage to get up & shower with a newborn.
Even do the odd bit of housework!
I just wanted to be able to do what I wanted at my own pace & not have to think about anyone else.
Establish breastfeeding without thinking might someone else walk in.
Just be able to think of me & what I wanted to do & how & when.
It's obviously hard as they need to stay-but trying to make you feel guilty-that's awful & would really make me dig my heels in.
You are about to become parents-that's what's happening.
It happens to make them Grandparents-but that's not the main event here!