I think you're comparing your circumstances to that of your parents, so I wouldn't say ungrateful. More of they did thongs their way with what they had on offer, same as you will do things your way. I get that it's sucks a whole lot when it comes to the cost of childcare.
It’s frustrating for you yes but it’s your parent’s decision - your kids are not their responsibility. Crack on as a three, create your own routine and they will slot in in time. I like the fact my LO grandparents are there for fun and quality time not for regular childcare. My mum didn’t work, had a nanny and her parents 10 mins down the road when my siblings were young. Life is totally incomparable now - they also live 3hrs away as we moved 10 years ago. My point is don’t let it get to you and embrace and cherish the time spent. They may take you all away as their treat on one of their holidays :)
"You must make sacrifices for your family" - My MIL What sacrifices did you make? You had a nanny and a maid, and you could work your own hours. Plus all the family that lived with you over the years and on the same street.
Sorry you are feeling in that way. Maybe ask for occasional help and set up expectations with both set of grandparents. Their job is done, you are full grown up. As adults also decided to expand the family and bring a beautiful creature to the world. We cannot impose in our parents our responsibilities, their role now is enjoy their time off and they will decide how involve they want to be in the little ones life. Also the more involve they get or help, the more saying they will have in how to raise your own child. Hope you find a solution that works for everyone and don’t let the grudge get to you when expectations and boundaries were never set on the first place.
I totally understand where you’re coming from, especially if she has mentioned before that she received so much help but has not offered the same help to you. That must be so frustrating. I’m going through something similar with my mom and I have started to resent her because I don’t feel like she’s really been there for me. But just like you, I struggle with questioning if my expectations are unreasonable or if I’m ungrateful 😭