I think I might have read your thread in the past too. Visitors can be difficult and it's clear they are visiting for too long each time. Two weeks is too much for you. However, I think your posts are very confused and full of mixed messages. You simultaneously resent them being there and causing you work. But you also resent them sorting themselves out and going out and not "seeing you" or "being with you". I think you seem to be full of hurt about something and it's all a bit passive and a little needy towards them as though there is some other issues at play -not just about them staying with you. As well as sounding like you want more from them, you also want less from them. So I think this could be quite tricky for them to know what to do with.
I think them going out a lot is a bonus. Imagine other people coming into a person's house and not ever going out and just being there all the time or taking over domestic tasks. Some people might find that intrusive or overbearing. You keep mentioning saying to them the next day will be a "chill" day. But what if they are very active types who will be fidgeting just hanging about with nothing to do? In which case surely it's good that they get out and occupy themselves a bit?
On the other hand, your dad does sound a bit fixed and set in his ways and perhaps a bit thoughtlessly dominating. But you sound very bitter whilst not finding methods to deal with it. You possibly have to accept they are what they are and try and find practical ways of making it better and bearable for you so you have the best relationship you can with them.
Maybe don't resent them going out and sorting themselves out or planning their own activities. I would take that as a chance to continue your own routine and not have to worry about them too much. It sounds like they are "make a plan" people and you are a "less plan" person. That's fine - I'm like you. But it can make people nervous to have no plan and maybe making one - ie they go out all morning and and maybe you meet for coffee and lunch etc - might allow you to relax and feel less resentful as at least you could do some chill things with your daughter in that space. Perhaps you can make better arrangements about lifts so your day isn't thrown out of whack and you know where you are. I know it's a bit annoying when people want a minute by minute schedule but some people need every moment planned. If they are like that it's a lot easier to let them get on with it. Maybe you can fit in with the odd lunch and pick up and see them a bit less intensely?
I'm picking up some resentment around how they are with you versus when your DH is off. Maybe you feel underappreciated or you think that they don't recognise how much you do and therefore think you can run around after them or something? I think you have to just back yourself more and maybe turn their attitudes into a joke with yourself "here we go" sort of thing, so it doesn't really get to you. Most importantly - ignore them! You don't need them to think like you do or want to do the things you want to do. If they have expectations you don't want to meet, you need to make them realise you're not doing that.
In terms of babysitting - it might be they aren't confident in that or aren't wanting to. You can be strong and demand it for an evening to go out or just leave it. I think being hurt about people and whether they are spending enough time at the playpark is a bit futile. A lot of little children's activiities are rather boring for adults. It doesn't mean they aren't wanting to see you or don't care though.
Lastly - there seems to be a lot of visits that you aren't enjoying and are causing resentment where you seem to feel like there are expectations on you. I think you need to reduce the visits. Maybe the resentment is coming from guilt because you're not enjoying it and therefore you're focusing on resentments that don't seem huge but I think anyone can understand. It's simply too many visits that go on too long. Maybe look to cut them down. Maybe instigate a "no meals" or "some meals" policy. Ie - you're welcome to come stay and lovely to see you but I've got to carry on as normal and can't cook for you for two weeks - I'll do mon and wed, you can do Tues and Thurs. OR "I won't be able to do meals" fullstop.
I get the impression you are shying away from the tougher and more practical messages perhaps because you are looking for something else from them. Approval? i don't know. If you take out the hurt, it would be easier to look at it more practically and work out how to make the situation better for you. Good luck OP. I know you posted before and you sound a bit down on yourself and not confident dealing with them. Don't be. You're being splendid to do so many long visits without going bonkers. I would be terrible! A lot of people would find it hard without it necessarily being anyone's fault. So maybe look at it dispassionately, take the hurt out and find some ways of just making it doable and more enjoyable for you without expecting big changes from them in terms of them suddenly just "getting it" because they haven't so far and are probably quite set in their ways. So be proactive and work out how it could be better for you and then put some of that into operation.