Boundaries with mother

How do I go about my mom not staying in her lane with regards to jumping into conversations she's not in, moving my stuff, and offering food to my children or anything else with my children before asking me or my husband first? We had to move in with my parents a year or so ago and my husband has brought up divorce twice in the last 6 months because of my mom, because I don't put her in check. I've asked my mom multiple times to not move my stuff unless it's in her way. We use the one livingroom which my parents never use but she feels the need to organize our things. I've asked her not to touch our laundry unless it's in her way but she will still take it from the washer put it in the dryer and then into a bin and put it in the livingroom before i can get to it when she is not even doing laundry. I've told her it's not helpful she does not know if i need to check that a stain got out or if something doesn't go in the dryer. We will be in the middle of a conversation and she will "walk by" and say something relevant to our conversation. I have not exactly told her not to do that but I've said once before were you just standing there listening to us? She doesn't listen and she doesn't take hints. What do I have to do? Yell? Get mean? I appreciate my parents helping us with a place to live and I know it's not ideal for them either but.....I have My family, my husband and I don't want a village. The village has different ideals of raising children and healthy habits. Did we sign up for this when we moved in? Are we in the wrong? Is my mom? Is my husband? I was mad then sad that my husband would bring up divorce because of this. Any advice/feedback is appreciated. Thanks