You don't have a friend- acting-oddly-while-not-being-grateful-for-support problem.
You have a communication & assertiveness problem.
Here it is:
by this time my husband came home from work and cut in and told her that's not my job she will need to get up and do it
If you go through life unable to express your feelings clearly & depending on your DH to do it for you, you will keep encountering the problem.
You were clearly knackered & pissed off when you got back after that long shift, but instead of saying "Oi friend, I need a hand here", you martyred yourself.
Then you meekly did her bidding when she instructed you to feed her DC, as if you were the hired help.
Stop acting like the hired help & your problem will ... maybe not disappear, but certainly become easier to manage,
Start with this - www.amazon.co.uk/Woman-Your-Own-Right-Assertiveness/dp/0704334208?tag=mumsnetforu03-21
& if it doesn't help you enough, look into doing a course, or organising a few sessions with a counsellor who can talk you through how to communicate your wishes more assertively.
Good luck with whipping your friend into shape.
No doubt she has so much of her own shit going on that she has forgotten her manners, but I've never heard that even the extreme stress of breaking up with a live-in partner & relocating turned somebody into a domestic tyrant before ... so don't take any excuses from her.
I'm hoping this was out of character for her & you can sort it with a short good natured chat/light hearted pointing out eg "Can I remind you I'm 8 months pregnant & doing you a big favour here" ought to cut it, for starters.
If it doesn't, & this is what she's generally like ... then she's not your 'friend' is she?