Sometimes people expect too much from the grandparents. They have done their job of raising you and probably just want to enjoy their life now.
When they come to visit, let them be the guest, probably little time with grandkids. You run your household as usual with little expectation of help from them. They raised you, been there done that.
If you need help, ask specific help, don't assume they would offer. They are not mind readers.
With your parents, you can relax a bit with household, lets them make they own foods if they want, etc.
With IL, let your DH handle them if possible, like buying groceries for foods that IL like for breakfast and etc. let DH handle the outings or give them keys to the cars. You shouldn't drive them around if it's out of your normal activities.
If the grandparent wants to play or take care of the kids while you do errands, that great. If they just hanging around the house with their tablets, let them be. For them, it suppose to be a vacations for them( which they probably rarely get while you growing up).