@LolaSmiles
your example with touching and buggy is actually perfect setting of boundary in gentle parenting
Thank you. For me the game changer from "I'd want to have boundaries from the start but I hate authoritarian and behaviourist approaches, but gentle parenting sounds very permissive to me based on what I've seen" to "I get this, gentle parenting is actually authoritative parenting, which sounds very me" was wading past the permissive shit that's out there to the central premises of authoritative parenting where it's more of an outlook than technique. It's about the parent setting the agenda, selecting appropriate boundaries and then holding them respectfully without shame or invalidation.
A permissive parent might get all bogged down in "I understand sweetie you really want to stay in the park. That's ok, we'll stay until you tell me you're ready to go." They might even bizarrely convince themselves this is because they respect their child and everything is a collaboration and it's the child's day out too.
An authoritarian parent will get into "we're leaving now because I say so. 4pm and not a minute later" because they decided 4pm was the arbitrary cut off. If the child is sad or cries or gets stroppy, the authoritarian parent will tend to shame or invalidate the child and it's the because I say so outlook.
A gentle/authoritative parent wouldn't be bothered about leaving at 4.10 over 4pm if there was time and they saw their child was having fun/the child asked for one more go on the swings, but it would be the parent's decision. When it's time to go they give their child clarity that we are leaving in X minutes, probably check if there's anything extra they want to do before they go, and then when it's leaving time they go. They might give appropriate choices or make a game out of it, but the parent decides it's time to go. If the child is sad, the authoritative parent acknowledges the feelings, doesn't shame the child, but holds the boundary. If that means carrying a screaming child or the park, so be it.