Hovering parent

first of all I'd like to say I love my mom so very much and we've been through a lot. i know parents do their best and that she has good intentions at heart. But whenever I go to hangout with my friends or try to invite them to something she comes along. She invites herself and includes herself in the conversation. And it's weird to be yourself around your friends with your mom sitting right there. I can have my girl talk about things with my mom there listening. I can't go on a date with her there. It's so cringy. Like She will look so sad and lonely if we don't talk to her but when we do talk we can't talk and be ourselves. I feel really bad for thinking this way but I had to say it. It gets annoying when I want to go somewhere with my girls and she gets out of the car to follow us or gets dressed to go. She didn't have many friends growing up and still doesn't. So I want to include her but at the same time I can't have as good a rime. We have to kinda be extra cautious and cater to being civil around her. Some times o get real mad about it but I stop myself and understand.