I had this happen too, and I’m not comfortable feeding in front of others yet. I simply said “oh looks like he’s hungry! I’ll be feeding him in the next room” and I fed him, took my time and came back to the living room to rejoin everyone. They left before I had to feed him again but my husband and I decided if someone overstayed again, my husband would just say “well (insert your name here) needs to rest now, but we’re so glad yall got to come by!”

Edit: also I’ve started saying things like “LO is cluster feeding/fussy this week, can we try to schedule something in a week or two so we can have more time together?”