bigbluestars you deserve a big gold star.
There is so much advice people can give, but following it is so hard.
I think that at the moment you are very much in respectful daughter mode, but this will simply breed resentment and cannot work long term.
Is there any way that you can all sit down together and have a frank discussion about your differing needs. (this very much includes the kids)
I am probably nearer your mother's age than yours and very close to my daughter, but I would never live with her. I've got more sense.
Tell her that your home is a democracy, and her wants and ideas do not trump every one else's, if she has different ideas of how things should be done, then she simply has to keep them to herself.
Financially, she is being heavily subsidised, and a bit naughty, she probably knows this, ask for help with the bills, you have large expenses.
I don't know how I would deal with her constant need for company, she will get offended what ever you say, so that's tricky. Just tell her straight.
I suppose that the bottom line really is to let her know that the current arrangement isn't working, and if she cannot be a bit more understanding towards the rest of you, then you will help her to find somewhere she will be happier.
Jolly good luck with that.