What's the right thing to do? People who pride themselves on their communication skills and people skills, please answer!

I'm in another city. I've never been here. I'm here with my mom and sister. Now one of my old friends lives here and she wanted to meet up with me. I haven't seen her in years. But I only have a couple hours that I can meet up with her tomorrow. Now, my parents have sheltered me all their lives and they don't want me ubering around, we literally had someone who's an extended family/friend pick us from the airport.

My mom asked me if my friend is going to be picking me up to take me out, which she's not. My friend is a mom with 2 kids, and she wants me to "come to her place", she didn't offer picking me up from where I'll be. And my mom doesn't like that. She is encouraging me to not visit her. She thinks it's rude that my friend won't offer to pick me up when I'm in an unfamiliar place. Idk. I mean, this girl is extremely rich and has drivers etc, but also, idk about her family issues. She just said her kids are menaces so she can't visit me at my hotel while mommying, so I'll have to come to her house. I really don't know what to do. I feel it would be extremely impolite to refuse meeting up. I don't know what to do 😭