Nobody likes to hear nasty comments about their children. If she is nice to you apart from those negative comments, then perhaps you could try to see from her point of view and regard those intentions as good.
If you can manage to think that way, then it should be easier for you to get close to her again. Start off with buying a gift and visiting her house with your children.
Otherwise, if she doesn't seem to show any extra concern to you and it's not causing a rift between your husband and you, I don't really see the point of reconnecting since it's been 3 years.
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