We had a very easy time with our teens in most ways. One has ADHD and ASD, so he had soem issues swith organisation and was lonely for a while but well supported at school and found his feet and friendship group eventually.
We were given great advice - before they hit their teens find about three things that genuinely connect you as a family. Ours were both quite arty boys, despite doing sciences and sports, and their friends weren't so much into the arts, s we used that as an excuse to take them to galleries and theatre shows. We also had some music in common and bought concert, gig and festival tickets wherever possible. We involved them in choosing where to go on holiday and took turns choosing what to do when we got there.
We invited their friends over for pizzas and film nights, and as they grew older for parties, and bought a fire pit so they could all sit around in the dark feeling grown up even though they were too young to drink.
We never tried to shape their interests or make them do what we wanted - they chose their own GCSEs and A levels (but we did advise towards options that put them in a strong position for top unis. We followed their lead in interests - taking them to expos and conferences etc in subjects that mattered to them even if they bored us stiff.
We always had dinner together, unless it was impossible due to after school clubs and chatted about the world. We always had breakfast together, even if only for 5 mins. It just helps you gauge how they are doing. On Fridays before they were old enough to be out and about with mates, we'd have home made pizza and film nights, taking it in turns to choose the movie.
When they were tweens we'd go on lots of walks and I'd ask silly questions that I knew would engage them - like - what is your dream home or what would you do if you had £5mill just to spend on yourself? What if you had to spend it only on other people? What would you do if you were prime minister etc. At that age they so desperately want to be grown up and those sorts of questions helped them imagine having control and a future, and kept them talking with us. We'd also ask their opinion about news stories, music etc.
I think the big mistake is to take your eye off the ball when they are teens. They will make massive mistakes - it's part of growing up. So do casually, occasionally, randomly check their phones and screen history.
And don't worry about sounding like a square old dinosaur. We just said: No drugs. Not just because they ruin your mind, body, bank account, life, but because the industry abuses slaves and you mustn't encourage that. I made them watch the Breck Bednar documentary to stop them taking online friends at face value. Have some rules that deep down they know keep them safe. We had no screens in bedrooms after 10pm, until they turned 16. They had to plug in phones and laptops downstairs. Always explain: because you need sleep not because we get a kick out of controlling your life. Always challenge 'you don't understand me slef-pitying sulks for the shit is is and be very clear why your rules are made out of love and care for their wellbeing. Don't expect them to work this out.
Sorry - what an essay. I'm an empty nester and have reflected a lot on what we did right and what we did wrong.