Responses will vary.
However, this is my perspective:
You have your own nuclear family and daily routines/schedules/commitments etc. There is NOTHING wrong, with that. You do not have to, nor constantly... change your schedules to suit her's or her requests or her "demands" if she is demanding. Nor do you have to ALWAYS include her in EVERYTHING you do. But sure, you include her as you can or want to.
There are 2 lives: yours. Her's. And at times it can be combined.
But, since she seems to be bored or has nothing in her life nor her OWN activities/clubs/socializing with friends... then HELP her to gain that. So that she is more independent.
And maybe there are car pools, for seniors, with can help.
LOOK into that. In our city, there are things like that.
Again, you do NOT, have to include her in EVERYTHING.
How does your Husband feel?
Speak to her, have a conversation, and say... your peace. In a nice caring way. OR your Husband should do that. You are not abandoning her or anything. That is not it. But you all need to HELP her, gain a sense of social independence. Too. It is good for her own mental and emotional health. I have an elderly Mom. She lives with us. BUT... she is not a 3rd wheel. She is not "depending" on us for ALL her social activities. SHE, herself is very independent and has lots of friends and various social groups that she participates in. SO, therefore, though we all live together, we all have our own lives too. Which is normal and there is nothing wrong with that. And then we ALSO do do many things together too. But, the key thing is, we all talk together and it is fine. My Mom is independent. And there are even times when we invite her to something, and she will say "no, I'm going out with my girlfriends..." and its fine.
Versus, I know a woman who is married and she has kids too. And, her MIL is very clingy. And they HAVE TO, take her everywhere and invite her to EVERYTHING and if they don't, she gets pissed off and puts guilt trips on them. BUT, that is not... mentally nor emotionally healthy, for all of them. Her MIL, has no life or socialization, besides with them. And it drives her Husband, nuts. They have no private or "autonomous" family time. And the thing is, the MIL does NOT want to, do anything for herself.
So they have no solution. And it is not happy any of them.
Because, the MIL "controls" what they do. And it is very unpleasant. And also very, oppressive. For the whole family.
Every single time they are out or doing something, there is her MIL, too. All the time, everywhere, the MIL has to be... included.
ETA: ya know, it seems like no one EXPLAINS to her, anything. About her expectations versus, what is.
You both need to talk to her and Explain. Things. To. Her.
Because, if not, you will all be like this forever. Catering to her expectations and.or feeling guilty because of her guilt trips, which is not fair nor reasonable nor sane.
You both need to tell her, what is possible and what is not. What is doable, and what is not.
You all have your separate lives, but are a family.
And there is nothing wrong with that.