It does not really matter when this took place or where. As we do not know where OP lives, she and her family may not have been evading or disobeying Covid 19 restrictions.
Where you go from here, is difficult to say.
Your daughter should definitely not have been listening to your private conversations and then having the nerve to be offended at what she heard.
There is an old saying that evesdroppers hear no good of themselves. It applies here.
If my daughter or daughter in law came for a fortnight at Christmas or any other time of the year and didn't ever get off her backside to help, I would have said a few choice words too.
Most mothers would.
If you and your husband want to repair the relationship to your daughter, which I imagine you do, write her a letter, saying how sorry you are that you had this dust up at Christmas.
Mention that you felt tired because she was never offering to help and neither was her husband. I imagine he could have helped in the house too.
Frankly, she had no business listening to private conversations either on a baby intercom or in the old fashioned way be gluing her ear to the door, but tell her that you and her father are willing to overlook this, as long as it does not happen again.
Remember in future not to discuss her when she is anywhere nearby!
Ask if you cannot let bygones be bygones and move on past this, as you miss her and her family.
If you either get a rude reply or none there will not be anything more you can do, but at least you have shown your willingness to make up the quarrel.