Does she understand..is she competent?
(If not my suggestion will not apply and looking for alternate living arrangements may be your only option.YOUR family comes first)
If you can sit down and have a discussion with her that she needs to respect you and your family and that this respect will go both ways.
You can start this conversation at a time when you are both calm then have a Family meeting and lay out ground rules for all involved.
If she continues to disrespect you or any member of your family you will have no choice but to look for alternate housing for her.
Give her probably the same talk she gave you when you were a teen and young adult living at home.
Give her time to adjust, this is a big change for all of you. But explain that after a period of time if things do not improve you will begin the search with her for a Senior Living facility where she will be happier.