OP
"I drove to within 20 miles of her last summer hoping that she would agree to a visit but she was so worried that I would "bring something" that I didn't actually visit. I offered a short car trip, with her in the back, and that we could both wear a mask but she was unwilling."
I don't blame your mother at all.
Covid was very new last year and we couldn't see the end of the tunnel.
Getting in a car with another person would have been a huge no no for me too.
"I've said I'll visit in the summer, and that as we've been vaccinated, we need to get back to "normal" but she's not happy with that. "
I hope you realize her normal is not your normal.
Drop the visit, it is not going to work
"She has always been antisocial, never had friends, won't have any help at home and "can't be doing with people" and I think has actually been quite comfortable with the situation as she doesn't have to be bothered."
That is your answer. Stop hoping your mother is a different person.
Ideas? Let her be. She is happy as she is
Support and friendship for those whose lives have been affected by estrangement.
