There's a big difference between authoritarian and authoritative.
I certainly respected my parents...still do, of course. They set some limits, which I didn't always agree with, but looking back now, I know they were doing the right thing...and were only looking out for my best interest.
My parents took a mild interest in my hobbies. They weren't always on the bandwagon, but they never stopped me from doing what I wanted to, so long as it wasn't hurting anybody.
My mom and I are particularly close...we're only 19 years apart, and it was just the two of us for 4 years. My stepdad aren't exactly close, but we have a good relationship, and he always treated me like I was his own child...and I respected him as if he were my real father.
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