I fully understand your frustration, my DM is 88 & I recently went to stay with her for 2 weeks (she lives 300 miles away from me). She frequently made remarks which made me feel she was treating me like a child, I'm 61
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The worst was when I was driving (she has had to give up her licence), I've been driving since I was 17, clean licence, but she would act a little bit like Hyacinth Bucket
, think it is related to her having been a driver rather than a comment on my driving skills, at least I hope so.
It used to annoy me if when she came to stay if she did things without saying, do you mind? or where is the brush so I can sweep the path?
I think the annoyance is some-one doing a task (which probably does need doing but might not be high on your list of priorities) without asking. I would not dream of going into my DD's home & starting tidying up etc (she has a messy but comfortable home but mine's not a palace), I go to visit DD & DGS.
I wouldn't say anything to Mum as we both realise that we are independent, both widowed & used to pleasing ourselves