AITAH For kicking my grandma out?

Context: I(31F) had a baby 8 months ago. When I was 9 months pregnant my grandmother(f77) came to help prepare for the baby. She stayed for the birth and is still at my house 10 months later. Right now she’s sleeping in what was supposed to be my son’s nursery and has taken over my guest bathroom. I live in a 2/1.5 duplex with my son and his father.

Some background info: My grandmother lives a somewhat nomadic and opportunistic lifestyle. She’s done this before where she will visit a family member, never giving a time frame for her visit, and end up staying for YEARS. No discussion was had about her moving in with us. She currently lives about 3 hours away with my uncle in a crappy apartment.

Now, I’m wondering if ITAH? Because we basically have live-in childcare, our laundry gets done and she buys us groceries. But it’s not all rainbows and sunshine. She’s diabetic, and frequently has high sugar levels. She has high blood pressure that is difficult to keep in check. She needs cataract surgery and because she can’t see well a lot of the times we end up doing the Laundry over or doing the dishes again because they’re not entirely clean. She leaves little plastic caps for her rxeyedrops on the floor, along with diabetic test strips. There’s blood smudges on the light switches from her pricking her finger for her sugar check. She bathes maybe twice a week. My partner and I can hardly have any intimacy.

I’ve always had a good relationship with my grandma so that’s why I’m so torn about the situation. She loves my kid and I feel bad basically sending her back to a bleak lifestyle but I’m losing my mind. My mother also wants to be the primary babysitter for my kid so they’re basically in a competition right now (they don’t have a good relationship) and I’m stuck in the middle not wanting to hurt anyone’s feelings but sacrificing my own mental health.