I had my children in the early 1970s. Grandparents didn't have 'expectations' then they just fitted in with parents.
Equally new parents did not expect anything of grandparents and most new parents looked after their children from birth with very little input from parents. I do remember one woman in our road where her parents were endlessly there. The rest of us thought it very odd and felt rather sorry for her.
I knew very few women who had parents close at hand anyway. My parents and parents in law lived 60 miles away (in opposite direction and my pil didn't drive.
To answer your questions
What was the arrival of your first child like in relation to your parents?
DH rang them after he got home after the birth
Were your mother and/or MIL present at the birth?
It was unthought of in the early 1970s, and Icertainly wouldn't have wanted it.
Were they in the hospital waiting room?
Good God, no!
Did they come in to your hospital room to meet the baby on day one?
My parents drove over, to see him. Stayed an hour and then went home and din't see him again for some weeks. PiL didn't see either of our children until they were about 10 days old as they weren't drivers and there was no direct public transport.
Did they stay at your home to help? Was that by their request or yours?
For baby 1, it never occurred to me to even ask for it, I certainly didn't want it. For baby 2 my mother took a week off work in order to look after No 1 while I was having and resting after having No 2
How often did they visit or did you visit them in those early days? After the first visit, went back to normal visiting pattern pre children, seeing them for a day or weekend about once a month.
Did they offer childcare (or conversely, did you request it)?
Apart from distance all 4 grandparenbts were still working full time..
Did they take your infant for sleepovers and if so, when?
We asked them to look after them overnight on a number of occasions when we had works social dos in London and when we moved house, moving out and moving in is difficult, and distressing for toddlers. No big deal about it. They were always available in emergencies
Did their expectations match yours?
Grandparents didn't have expectations.
When DDiL had her children, 2007,2010 nothing much had changed. They live 200 miles away. We went north as soon as the baby was born, stayed a few days, saw the baby a few times, then headed home and didn't see our grandaughter for another month, when they came south.
We had no expectations, and we have always fitted in with DS and DDiL's life. As a result we have a close and happy relationship with them and we see each other a lot and holiday together in harmony every year.