Growing up means realizing adults were improvising more than childhood allowed you to see.

Children experience adults as having a plan. Then you become one and discover the plan was a series of decisions made with partial information under pressure, and that the confidence you remember was largely performance for your benefit. The people who raised you were guessing, often well and sometimes badly, and they were about as sure as you are now.

This is worth extending in both directions. Some forgiveness toward those who improvised imperfectly, and some relief for yourself, since the competence you thought you were missing was never actually there. Do the best available thing with what you know, which is all anyone ever did.