I always think that when there are visitors and the adults are lingering at the table, as you do, it's perfectly acceptable for the children to get down and quietly go and amuse themselves. Nothing you've said makes the children sound badly behaved at all.
If she makes any criticisms this time, I'd laugh it off and point out she's known you long enough by now to know how you live and you couldn't possibly aspire to her higher standards.
Please don't let her make you feel inadequate. People with true class never do that to anyone else.
Being quizzed by chemist's assistant in Boots.