My friend always overstays her welcome?!?

I have a friend and I love hanging out with her but she always overstays her welcome! Everytime I hang out with her she always ends up inviting herself over to my house to spend the night. Not to mention the fact that she doesn't have a car and I have to drive her wherever we go and home again. Then when she's over she is always asking me to get her stuff and to borrow things and says things like "im the guest" when I don't get her something right away. She says it jokingly but really I want to scream "ONLY BECAUSE YOU INVITED YOURSELF OVER!" And then she doesn't leave in the morning but just stays forever and I try to drop hints and get her to go home but she just doesn't get it! its so annoying that I hardly ever hang out with her because it always turns into this huge ordeal when I just wanted to spend an evening with a friend! I'm so annoyed I could scream right now and she always eats a load of food and goes through like our whole refrigerator and pantry looking for the perfect thing to eat. Sometimes she'll even take food home with her! She'll be like, "and some apples for the road haha." And it's not like she is jerk, she just really doesn't get it! its so annoying! maybe I'm just a bad sharer.