My dd is 18, and she is very happy/healthy and an absolute pleasure to live with - considerate, helpful and fabulous company. We have breezed through the teen years with no trouble at all.
I wish I could claim all of the credit for that, but honestly, I think a lot of it is down to luck/innate personality. But I think there is some stuff that has probably helped - and a lot of it is probably stuff that I learned from my own lovely parents, who managed to get me and dsis through the teen years without any trouble.
Firstly - and I think this is probably the most important thing tbh - I have always treated her with absolute respect, even when she was very little. Never really went down the "I'm am adult and you're the child" school of parenting. Yes, I'm her parent and have sometimes had to make decisions that she hasn't liked, but I've never thrown my weight around unnecessarily or treated my opinion as more important than hers. Wherever possible, I've allowed her to make decisions for herself, and as she has got older, I've tried to recognise that she is growing up and give her credit for her increasing level of maturity. Where we have had a disagreement, I've always listened to her perspective and explained my own reasoning, rather than adopting the "because I'm your mother and I said so" approach. Crucially, I have been willing to change my mind on some occasions when I've realised that I've got it wrong, and I think this has helped her to understand that I am not unreasonable, I'm on her side and just trying to keep her safe. This has meant that she is willing to respect and accept my position on the times when I haven't been willing to bend because she understands that I am not on a power trip and I genuinely have her best interests at heart.
I've always apologised when I've got things wrong/lost my temper. We very rarely argue, but when we do, it tends to blow over very quickly because we're both quick to say sorry to each other.
We laugh a lot together. I think that helps! I'm also genuinely interested in her life, her friends and interests, her thoughts and feelings. We talk endlessly and I really listen. That comes easily to me tbh because I find her fantastic company. It probably helps that we see the world in quite similar ways and have quite similar interests. I really like and admire her as a person, and I think this probably comes across... another element of luck, I suppose, as it probably wouldn't be easy to fake. But simply investing time in talking to your kids and seeing the world from their perspective is hugely important, I think, and maybe you're more likely to appreciate them as a person if you take the time to really understand them. Valuing the person that they are (instead of comparing them to the child that you thought you were going to have) is really important for their self esteem imo. Also, if the overall quality of the relationship is strong, then I think the teen years are easier because they don't want to disappoint you!
And yes, dd and I are both very tactile and have lots ocuddles. I don't know if that's an essential element though...my nephew is a similar age and a fantastic teenager, but he is much less cuddly overall. I think it's more about showing love and affection in whatever way suits the individual child... which might be lots of cuddles but could equally be other stuff instead.