MIL advice please.

Hey ladies so just need a little bit of insight and advice as I know sometimes it is very useful to see things through someone else's perceptive. There has always been some tension between me and MIL, some family members have noticed it as well and Dh also realizes it. She has admitted to a family member that she will always feel threatened by my position in her son's life. I am very respectful to her, she sees lo weekly and babysits bi weekly, I send her pics + updates on lo on average twice a week, when I go over I always help her out in the kitchen and with cleaning up, greet her as soon as we walk in the house or when they walk into our home, always offer dh to help her out with stuff. The difficult part for me is that when she comes over she does not offer her help, she basically sits down and gets served, she also gets up and leaves her dishes on the table when she is done. She also constantly criticizes my parenting style and finds little things to comment on (ex. I brought lo a pair of pj's a while back and asked her politely if she can put them on whIle babysitting since we were going to pick up lo late, she did not put on lo pj's, I did not make a comment about it, I just put her pj's on once we got home, the next time MIL babysat I did not bother putting a pair of pj's in the diaper bag because hubby n I figured she doesn't put them on anyway so we will do it when we get home. As soon as we arrived at her home to pick up lo she made a comment "poor abbaysittih, she fell asleep in her clothes, you didn't bring me her pjs". I ignored her comment again. She also constantly makes comments about how dh and I choose to live our lives, we are very free spirited and open minded, completely anti sexism and anti racism, MIL on the other hand is extremely racist and sexist. So she constantly challenges our believes and makes comments about the way the world "is" she is very ego centric and feels that her opinion is factual and it is the way the world is. Just looking for some advice, opinions, maybe tips or personal experiences that u ladies can share. Just to add. She also treats my brother in law badly to the point that he had almost completely stopped attending family events. He always tells me "you r the only one who understands me".MIL tries to gossip and criticize brother in law to me and I always tell her that I personally like him and get along with him and she constantly tries to get me to bad mouth him but it never works. She does the same to him, she has gone as far as telling him that she has proof that I've been unfaithful and she has told me the same about him. In the end we have bother been faithful and she is just nuts. Loll

Thank you