Doesn't sound like you really want to remain friends anyway. The friend didn't bring the issue up about her daughter, but then the daughter spoke up. Since your daughter drives her daughter crazy (which does NOT mean there's anything wrong in your daughter's behavior), you shouldn't get them together. Maybe the woman feels guilty about the previous affront, but maybe she's just setting this up for a break anyway, "blaming" it on the girls.
Just go your separate ways. Don't make an issue of it, just don't call to set up any dates. If the woman calls, say you have plans or be up front and suggest the girls not get together and find new friends. I mean really, what difference does it make what the girl said? You're not going to change your daughter are you - assuming you've seen no problems with other kids? Kids get new friends all the time - no big deal. Besides, it could be that the friend started this as an excuse to break things up or to be the center of attention.
Meantime, you have a woman who talks behind people's backs (that's a HUGE deal breaker for me). If there's a group dinner, I'd put her in charge of dessert, and if she balks, say "It's much easier if you get held up, then people aren't waiting for appetizers or the main course." Or find another way to party with the other people.
Your friend is looking for attention in a passive-aggressive way - showing up 2 hours late with the first course, managing to tell you her daughter has had a long-term problem with your daughter?? Sounds manipulative to me. Pity her, and move on with strength and confidence!