"I can't just leave"
The doorstep is where the guilt is loudest, so it's worth a chapter.
You've been there two hours. You said you'd stay till four and it's four, and she says, oh, are you going, and something in your chest folds. You stay another twenty minutes. Then another ten. Then you leave anyway, later and more frayed, and the extra half hour has bought nothing except a worse goodbye, because now you're leaving in a hurry with the children's tea in mind.
Here's what I think is happening, and it's an interpretation. The guilt measures a visit by its ending, not by its middle. Two good hours count for nothing if the goodbye is wrong. So the visit that was fine at half past three becomes a failure at four because you're the one saying it's over, and being the one who ends it feels like being the one who left, in the large sense, the one who put her in a home, the one who didn't come. The doorstep carries the whole weight of the debt in a single moment, which is why a goodbye can feel like an abandonment.
But notice what staying does. It doesn't remove the doorstep. It moves it half an hour later and makes it worse, because now you really do have to go. Every visit has a doorstep. The only question is whether you cross it when you said you would, cleanly, or twenty minutes after, badly.
The practical answer, which chapter 20 fills out, is to name the end at the beginning. I'm here till four. Said on arrival, warmly, it turns four into a fact instead of a decision. When four comes, you're not choosing to leave, you're doing what you said. She may still say, oh, are you going. She'll say it either way. The difference is whether you hear it as a verdict or as a mother who enjoyed the afternoon and is sorry it's over, which is a good thing for an afternoon to have been.