don’t come to us unless invited
Well invite them then. My mother came to our house, or one or other of my son’s houses, for Sunday lunch every week. If we were not here, one of the boys would invite her. After she stopped driving, one of us or our boys, would always collect her and deliver her home. We frequently went to a pub for a meal, often accompanied by the sons and their families. Not always though. I took her shopping every week, to all her medical appointments, to the cinema as long as she was able, or just brought her round for lunch here in the week sometimes.
I’m not suggesting you do all that but some of it might make life more interesting for them.