My parents would do that routinely, but we didn’t mind because it was usually asking the lines of, “Hey, we were in the area, and we realized it’s been awhile since we took you out for an expensive meal you could never afford on your own. Do you have time to go out for dinner?”

I can’t think of a time when it bothered us.

However, I have a “GO AWAY!” doormat at the front door for everyone else.