I think you are probably doing okay. I'm not a parent, so I really don't have any place to talk, but I think one of the biggest issues parents have is that they are more worried about being a friend to their kid than being a parent. I would argue that if if you are doing it right, you can usually have both, but being a parent always needs to come before being a friend.
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I don't get why parents want to be friends with their kids. Of course it is possible to have fun together and the like, but first and foremost, it has to be about preparing them for the rest of their lives.