I look back and see the mistakes I made, more than I should have made, and would redo this:

1. I would give them more room to make mistakes and would stop helicopter parenting.
2. I would show less anger and more joy in what caused them joy.
3. I would go to more of their events instead of work.
4. I would place family expectations on them.

In the end, there is no formula for good parenting of teens and older children, we're all just winging it, and holding our breaths with every new driver. I've been through seven teens and older children. It never gets easier until they reach their thirties.