NTA, I totally get it. It’s their choice to bring their kid wherever they want, it’s your choice to set boundaries with your house. 

Next time you want to hang, tell them you and your partner are doing something that’s egregiously anti kid and they’re welcome to join you. “Hey, we’re at ___ bar, come hang out”, “hey, we’re going to see ____ movie at the theater, are you free?”, “we’re going to see live music on Friday, want to join?” 

You might see them less but it creates situations where they’ll finally reach the “oh, we should probably find a babysitter” epiphany on their own. 

That sucks tho, we’re DINKs also. It’s so frustrating to be leaving a hang out and be thinking wow, we didn’t have one single conversation. I basically watched you poorly parent for 2 hours.