AITA because I don't want to give money back to my FILM after he took my daughter on a trip and she "destroyed" his car?

A bit of context: my daughter (6) is very easily overstimulated, we are currently in the process of getting a diagnosis. For this reason, I try to keep my daughter away from MIL and FIL, they don't understand and are both those people who are always everywhere and often go on spontaneous trips that last for hours, a nightmare for my daughter.

Recently, however, when I returned home, my daughter was gone. I asked my husband about it. He said his father had arrived and decided to take "Daisy" on a little trip. I asked him when they left, and he said about three hours ago. After that, I tried contacting my FIL several times, but he didn't answer.

He returned three hours later. He was furious, and Daisy was crying.

According to him, Daisy was "grumpy" and "spoiled" throughout the entire trip, completely ruining his plans, and when he wanted to take her to another place, she threw her drink and spilled it in the car. Then she started crying that the car "smelled like hot apple juice" and vomited.

I was already pissed off and if not my husband, I think I could have torn my FIL apart, but the next day FIL called me... demanding money for the damages and all the things he bought Daisy (and which we didn't even end up getting). He thinks it's fair because "he wanted to do something nice." I, of course, believe that he had no right to take Daisy at all and that he should not receive any money, but my husband, on the other hand, thinks that we should pay "to keep the peace". In his opinion, I'm too mean to his parents and only make it harder for everyone to have a good relationship.