Anyone else deal with a toxic mother?

I have a mother who did not raise me but she is in my life now that I am an adult. She helps with my children but it seems like she’s been in competition with me with them. I let her stay at my home so she can be closer to her doctor and so I can help her. However when I give my kids chores and if they’re ever grounded she will tell do their chores for them and take them here and there although I say No… I get that grandmas like to be lenient with their grand babies but as a mother I don’t like overstepping boundaries and she is way past the line. She will also judge me and my partners parenting style and give rude remarks although we have been giving her a place to stay, food to eat, gas money, and even a vehicle. How do you explain to your own parent that they can’t stay with you anymore nicely? I have opened my home up and I just get disrespected. Please help…