HATE it. A visit has to be pre-planned well in advance. Not least because my executive functioning issues usually mean the place is a mess I wouldn't want anyone to have to see, plus I'm always undressed at home. In the summer I'm in underwear and in the winter I'm in pajamas. I have no intention of hurriedly having to get dressed.
When I know I have either a delivery or a visitor, these things can be worked around; when it's unexpected, that person is just going to have to F off.