I don't think it's rude, actually. Different people have different ways of relating in groups, and this includes the concept of being part of a village who is raising a child. Maybe she sees the time when you seem worn out or when you're repeated yourself the 50 millionth time (cos i"m pretty sure all parents have those moments) and so she thinks by stepping in she's sharing some of that burden. Plus, sometimes kids behave differently when someone other than mum/dad tell them something. Sometimes having aunty/grandma/friend/significant adult say something works quicker & lasts longer than when it's mum. And if you're the type of person (by your own admission) that avoids confrontation then it's possible she knows that about you, too, which might explain why she jumps in.
I guess it depends on how much it bothers you as to whether to raise it with her or not. But before you do, it's a good idea to identify what it is really that bothers you. Is it because she's bossy in other aspects of your friendship? Does she overstep other boundaries? Do you feel like there's negative judgement (ie of you, or your parenting style) and she's being passive aggressive? I'm saying this because in most friendships there's a bit of give and take - and if something is really annoying you it's possibly a reflection of another aspect of the friendship that annoys you too. Understanding what that is will put you in a stronger position to do something about it.
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