This was a small hardback book I read in the UK in the late eighties. No memory of the cover.
Some kind of space war and a long lived alien female escapes the conflict in her starship, her side had lost.
An evil enemy that she needs to trap so she gets (I think) human DNA from space dust and sets up on a habitable planet. The story then gets like episodic and looks at the world every couple of generations while she hides out there.
Plants bud on the world and people pop out from big seedpods, the population listens out for babies crying and rescue them.
There are legends of the 'Earth mother’ who secretly guides them to become high tech.
In reality she is creating attractive food bait for the bad aliens.
I think an early human and her are attracted to each other and she (maybe) gives him long life or (maybe) uses reincarnation to keep seeing him.
Edit:- the name 'Rimstalker' has just now popped up in my brain!