AITAH for leaving church with my kids after a family member I’m no contact with said hi?

I have a family member (54 f) I am no-contact with and have been for years due to past issues. My parents (61 f & 71 m) know this and I’ve been very clear that I don’t want any interaction with this person. I’ve told them I’m fine being in the same building as long as we sit separately and there’s no contact.

Today, my parents, my kids (twins, 9 f), and I went to church. Everything was fine through Sunday school. Afterward, while waiting for regular service to start, the family member I’m no-contact with arrived. I had my back turned, and my husband (42 f) pointed her out to me. I saw she was talking to my mom.

At some point, the family member asked my mom if she should hug me. My mom told her not to hug me but said she could say hi. This was done knowing I did not want contact.

The family member then tapped me on the shoulder, said hi, and I said hi before turning away again. She went to sit elsewhere. I didn’t cause a scene, raise my voice, or confront anyone. I told my mom I was going to get my kids and leave, and we left quietly.

My mom is very upset that I took the kids and left and says I overreacted. She also brought up an incident from nine years ago where she claims I spoke to this person and allowed her to hug my kids, but that didn’t actually happen. At the time, my kids were infants in a stroller, I was caught off guard in a store, I had come around a corner and she was right there I couldn’t have avoided her in this situation, and my mom was angry with me afterward for speaking to the person at all.

I feel like my boundary was ignored, and I removed myself and my kids rather than create conflict. My mom feels hurt and says I shouldn’t have left.

I’m not trying to control who my parents talk to or where they go. I just want my boundary respected when we’re together.

AITA?