Getting older is how “my parents” slowly becomes “my friends who happen to be my parents.” Give it time.

The relationship is built to change shape. For years it has to be unequal, because somebody has to set rules and somebody has to resent them, and that stage is not a failure on either side. What follows is a slower conversion into something nearer friendship, once nobody is in charge of anybody.

That cannot be rushed, though you can make it likelier by talking to a parent occasionally as a person: their work, their week, the plans they had once. Take the opening when it appears. It arrives earlier for people who practise a little in advance.