Attila has given you great advice OP. This woman does not mean well. Your story is ringing bells for me. I remember as a teenager finally having saved enough to buy a white fine-knit cotton sweater (I was given very little money as a child), and spreading it out on my bed to admire it. I went out later and when I came back it wasn't there. My "mother" had taken it to wash (it was brand new and spotless) because she "thought" that was why I had left it there. She had pegged it on the clothes line by the bottom of the 2 side seams at the hip and it stretched completely out of shape. I was gutted but not allowed to be annoyed with her because she was "only trying to help". Needless to say she didn't offer to replace it.
When my children were small, she sometimes came to stay and would take it upon herself to "help". For weeks after we would be hunting for important things and finding them in the most ridiculous places - places she wouldn't keep similar things in her own home. When I asked her to check with me where things should go, she would get all upset "I do everything wrong" or might mutter an apology "sorry but how would I know where you keep things, I'm just trying to help". If I tried to explain that her "help" was making my life more difficult, she would snarl at me "I said I'm sorry". Then do the same next time. She would also "help" by checking things in my children's rooms; when I think back now I had no privacy as a child and she was demonstrating the same behaviour with my children.
Unfortunately for me (and my children) I didn't realise that she was actually abusive, as opposed to being just difficult, until I was over 50. I now know she is a covert narcissist, which is possibly the worst type as the abuse is generally behind closed doors. I have been in therapy for the last 2 years and have come a long way, but the one thing I seriously struggle with is that I couldn't see her abuse for what it was for so very long and I feel guilty for the horrendous effect it had on my own family.
You, OP, are younger than I was when I started to realise about this behaviour. Please don't suffer it any longer. It is abusive, she is gaslighting you, she thinks she knows best so won't listen to what you want, she doesn't actually know how to love you and for some reason she wants to cause you pain. This is not about you, there is something wrong with her, probably emotional damage from her own childhood, but if she doesn't think there's anything wrong she will not change - and she doesn't think there's anything wrong, she thinks your attitude is the problem.
Get a new cleaner in no matter what she says and restrict her access to your children, also put her on a strict information diet. Sorry about your experience, it's hell.
I'd highly recommend the Insight - Exposing Narcissm podcasts, they've been eye opening for me. You could start with Episode 46 Narcissistic Parent = Narcissistic Grandparent. Also have a look at the Stately Homes thread here, wonderful support available.