You're right.

i would be pissed too. they don’t get to take your daughter somewhere without your permission especially if she was supposed to be at your moms and ended up somewhere else without your knowledge

Other people don’t get to take your child ANYWHERE without clearing it with you. Family or not. It’s about having respect for you & your wishes. It’s understandable that you’re upset with them.

That's kidnap, though... as her mother, you deserve to be kept in the loop as far as her whereabouts - and you should be free to decide where she goes and doesn't go.

They don't have to agree with your decision, just abide by your wishes.

Since they're showing you such blatant disrespect, I would reconsider them having unsupervised access with your daughter going forward from here.

Have they done something like that before?

What they did is completely out of line

They were wrong.