I would hate that, but like you, be very unsure of how to end it without risking upsetting her in a way that might have long-term repercussions.
Your daughters visits have become so regular that it really needs gently pointing out that she can't expect to be treated
like a guest, with you and DH putting your own routines aside for her.
To avoid potential fallout, you perhaps need to do this gradually.
If they weren't there, what would you do after getting home? Put your feet up? Watch TV? Read?
If it's feasible, come in and do that thing (or anything, really, that will break the cycle), saying that you are really tired and really fancy doing whatever it is that you would do if they weren't there.
See how this goes down , then gradually try to add to it over coming visits.
I am not suggesting that you deliberately make visits unpleasant for your daughter, just that you slowly reshape her expectations.
I know that ideally, you would like her to stop coming as often, but you have to start somewhere ...
Good luck.