Mother-in-law nightmare

I have been married 10 years. My relationship with my mother-in-law has been somewhat civil for the most part, but she has always been a bit weird. Always serious, always judgmental. However, she is getting worse as the years go by. She crosses boundaries. In a recent situation she came in my house and told me what I was going to do, in a rude way, about a particular issue. She basically told me how to parent, what I am doing wrong about this issue or that issue, etc. I told her to get out of my house. I don't want any tension but damn,life is too short to put up with rude, judgmental, higher-than-thou, type folks, family or not. I have not talked to her in a month and don't plan to anytime soon. My wife says that her mother has always been like this and that she butts heads with me because I actually don't bend over to her word, which is what usually happens with her interactions with others. I don't even want my son around her because she is always so negative. Okay, I feel better.

I'd almost certainly do exactly what you did. If she can't be nice, or at least neutral, then you don't need her there.

...and does she see a doctor regularly?

No matter who they are. Respect is VERY important.

If she can't treat you with respect, then she can't have a place in your life.