...what did they do to make it good, both today and while you were growing up?

My relationship with my parents is ok - no major drama and I know they love me, but our household growing up definitely had tension fairly often - mom vs. dad and parents vs. kids. They were also a bit overbearing and judgmental.

I hope to make my relationship with my child(ren) better but I don't know all that many people IRL who are close with their parents. The ones who are seem to have laid-back parents who are supportive and never act like they're disappointed in their kids. That's a starting point for me but I'm curious what you think your parents did right.