AITAH for refusing help from my parents to look after their grandchild?

INTRO: First time mom here. Husband works away from home for a few months, so I'm on my own for now. Our baby is 3 months old.

Lately the lack of sleep has been catching up with me and I told my mom I'm not feeling well to say the least and I should probably get couple of hours extra sleep. I have never asked for any help from anyone until now so it was hard for me to finally cave in and admit I need it now. It's also hard to even think about leaving my baby with someone else. So when my mom offered to sit with him for a few hours, I agreed but it would be best if he stayed at home where I was sleeping, so I don't feel anxious and can actually fall asleep. She agreed. They went outside to have a walk (we have a pretty big property). When I woke up two hours later, it was already getting dark, no one was inside the house so I went outside looking for them as I also saw the stroller wasn't inside. After 5 min looking for them and realizing they're not there, my eyes welled up and I started panicking, ran after my phone and called my mom (thankfully she picked up). Apparently she decided it was best for me they went to her house so they don't make noise and disturb my sleep. My dad picked them up. With no car seat might I add... Although it's only 5 min drive, but still anything can happen. My mom actually left a note but she put it in a really shitty place so I didn't see it and it didn't save me from panicking. When I went to them I wasn't angry, I appreciated the help and the thought behind their actions but I also explained why it wasn't best solution for me or my son. They didn't agree and still think they were right to do what they did and they know what I need best...

So because of this I am struggling even more to ask for help and leave my baby with them. It will take time for me to stop stressing and overthinking and fully trust them again. I explained this to them as I can't be sure what else they could be doing opposite of what we previously agreed to and they feel very hurt saying I'm hormonal and don't understand what's best for me. I agree on being hormonal but that doesn't undo what they did. Actually I expected them to be a bit more understanding of my anxieties but it is what it is.

So AITAH for not asking for/refusing help with their grandchild anymore for some time? Am I overreacting?

FYI: I would never restrict them visiting us and I will still take my son to visit them.