I lived with my baby daddy’s mom and our baby for a while and I’ll tell you it’s not fun, but my situation was slightly different, she loved to criticize how I took care of my baby like I haven’t helped raise 3 baby siblings of mine compared to her getting hers taken, it was very toxic, all 3 of us were yelling at each other while the baby was also upset, to the point where I left completely, moved back in with my mom, she wants us back there with her but I refuse, that was one of the worst times for us
Move out. You deserve peace and she is not giving you any.
Maybe have a sit down with her and say that you appreciate the help that she has been giving and direct her into helping in different areas. I was in a similar situation and I just sat down with her (after a big blow out) and said I appreciate you helping with xyz but I would appreciate so much more with abc as these are the areas I am struggling with. For example I have mine watch my LO whilst I run the bath, get pjs ect ready after dinner for bed