My relationship with my parents (as a child) was very much of its time - 1970s/80s 'seen and not heard'. I was severely punished (corporal punishment) for things I now see as autistic behaviours but back then, the ordinary working class family like mine wouldn't have heard of autism so I can't really blame them - corporal punishment was normal in schools back then (but I was a model pupil so only ever got punished at home when my mask slipped).
I've generally had a good relationship with them as an adult - usual ups and downs but nothing serious. They don't know about my diagnosis - they are old and feeble now and it would just confuse them.
What do I wish they had done differently? Not used corporal punishment; tried to get to the bottom of some of my 'challenging' behaviours instead of treating it as deliberate naughtiness.
Generally I wish when I was a child, there had been the autism awareness there is now, in 2022. I get so angry when people talk about autism being over-diagnosed nowadays - if those people had had to grow up and navigate childhood, adolescence and adulthood up to middle age with no diagnosis, they would soon see things differently.