First, let me say that some kids are just born with more energy and less focus than they know how to handle well. It's not their fault, and it's not the parents' fault. One of my daughter's best friends has a child who leaves her whole house in chaos by the time he leaves after a visit. The mom interacts with her son like the firm, calm schoolteacher she is, but he's able to straighten up for only moments at a time, and she can never guess what playful havoc he'll wreak next.
And you also have a valid point. Some parenting is far from excellent. I think it's safe to say that every single parent is "programmed," by the time we are old enough to wonder about it, to react to other people in the ways that were modeled by our own parents and caregivers. This friend of yours, more than likely, was treated pretty much the way she treats her children. And, like many of us, she probably figures she turned out all right, so her kids will, too. And they will turn out "all right," that is, a functional adult who gets by without having to change very much.
Not very many of us come willingly to recognizing a need for, and then deciding upon, change. And then working for however long it takes to remake old habits. No matter how caring your intentions, your friend will probably see it as insensitive and intrusive at best, insulting at worst.
The only way most of us change is reaching a point where what we're doing gets us consistent slaps from reality. Some people are pretty blind to where those slaps are coming from, and persist in the choices that are not working well. But unless they're causing actual harm to themselves, their children, or other people, we don't generally get to point out the problem – it will only cause defensive reactions.
The only thing I've discovered that works some of the time, if the mom in question is not asking for yourl advice, is to model the parenting that works best for you. If you read a fabulous book or pick up a practical new tip, work it into your conversation. Mention what great results it has given you. Then take a few deep breaths, and let it go till next time.
You also have the right not to invite this friend into your home. That would be one of the "slaps from reality." Your friend may ask you about this, and then you can tell her that you don't want your children mistreated or cussed at, or your house torn asunder. Be sympathetic, but firm. And this might be one of those opportunities to tell her about your favorite parenting book. (Mine is How to Talk So Kids Will Listen, and Listen So Kids Will Talk, by Faber and Mazlish. Practical and effective, for all sorts of problems.)