Should I stay or should I go.

So I'm 25 married and have a baby girl. Been with hubby since I was 19. Trying to make a long story short here.. my grandma is unknowingly very cruel and judgemental, says very hurtful and rude things without thought and no it's not because she's old because she's not that old. Part of her is fun! And wild. She's got tattoos and a belly button ring. But for the most part she's just plain mean. And tells me how to parent my daughter, not making suggestions or giving advice. Just flat out tells me how to do it or I'm doing it wrong. The last two times I visited were so insanely stressful I couldn't wait to get home! She made me mad and hurt my feelings, and frustrated me to no end. Now don't get me wrong, I LOVE her despite all this. My mom just asked me to go down with her to visit in a few weeks and honestly I don't want to go. I can already feel the stress just thinking about it. They live far away so I don't see them often, and they don't see my baby often.  But they visited last month for my nephews birthday, and will come down next month for my daughters 1st birthday. So it isn't like it's been a long time. Am I being selfish for not wanting to go? Or should I just buck up and go.