Hi OP, I do understand your resentment and she sounds incredibly cheeky and selfish. YANBU to be upset by her behaviour, and I'm really sorry that you feel your time to bond as a family was negatively impacted.
However, I voted YABU because you and DH are grown people - you should simply have had a grown up conversation with her, on day 1 of her trip if not before, to tell her what you needed, how she could help and support you, and what your expectations were around her visits.
"here is a taxi number, the kids need their dad so he can't drive you everywhere"
"of course we can't cook you a roast but if you fancy a big meal here is a list of nice restaurants where you can either eat in or get delivery back to your hotel"
"please stop with this nonsense about bathing baby, she's too little for that, it might be best if you left us now as I need a nap and DC1 needs some time with daddy"
and the most important one:
"I'm sorry, the dates you've booked won't work for us. I'll be recovering from a c-section and we will need time to adjust to a new baby. I do hope that there won't be any penalty for changing your dates by 2 or 3 weeks? Please remember to check with us next time before you book your ticket because it is really needless hassle when you have to change your reservations"
There will always be rude and entitled people in the world, they make new ones every year. It's your choice if you let them negatively impact your life or if you don't.
Wish you all the best putting healthier boundaries in place.