These behaviors are objectively bad on their part:
"However I’m finding her increasingly overbearing. She makes plans on my behalf and tells me what I should and shouldn’t do. "
"FIL thinks I’m not emotionally mature enough for a baby due to my childhood."
"DF’s grandparents also feel the same as their daughter (the aunt) and will not visit if I am at MIL and FIL house. They want to see the baby every day despite being an hour journey each way, and have even chosen a name that I am expected to use."
"she is very suffocating, ringing me each day and taking washing home with her to help me. Of course I’d never show anything but gratitude but I don’t need her washing my underwear!"
Their making negative comments about you to your fiance is not great, but if you yourself have any problematic behaviors then maybe they are trying to look out for him. But given you are pregnant, that horse has left the barn and it suggests they have poor judgement if they are still trying to persuade him not to be with you.
Why is that that the grandparents will not visit if you are present? I don't know what caused them to do that, but regardless, they do not have the right to see the baby daily (especially if they refuse to see the baby's mother!) and their expectation of your driving an hour each way is so far outside of reasonable that it's not even worth discussing. Demanding they get to choose the name seems to be a common behavior of controlling in-laws and is also objectively wrong on their part.
You having had an abused childhood is not a valid reason for them to overstep your boundaries. Calling you "damaged goods" is dehumanising, pejorative, and unacceptable. It appears from what you say, that the way these labels are being used, is so that, if you respond negatively to their behavior, or you stand up for yourself, they can get what they want by saying you are just kicking off because you are unstable or because of your history of being abused. If that is really how they are treating you, it's a bit problematic. However, I say that with the recognition I don't know the situation on the ground. I do wonder about your own behaviors in the sense that I don't quite understand what would lead your future father-in-law to say you are too immature to have a baby. Do you require a lot of emotional support with basic life activities or self-regulation?