I empathize too. I have wonderful, well-meaning in-laws and sometimes too feel like my toes are being stepped on. Most of the time, grinning through it is the best. Sometimes though I think it is OK for you (or preferably your husband) to tell them this is a special event for you to share with your daughter. I know my daughter loves her grandparents and has a wonderful time doing special things with them. But I also know that somethings are "more perfect" when shared with just mom and dad. I always try to see it through my daughters eyes and try to honestly figure which would be the most special for her. Usually, having grandma and grandpa along wins but sometimes not.