Yes it all pans out ok... or at least I have a very happy and close relationship with all of my four (now aged 26-32!)
I found as they got to the teen years and older, we found ways of having individual time. Often when I was being Mum taxi 
I had my older three doing GCSEs and then A levels for three years in a row... that was stressful, but sometimes supporting them meant reading Shakespeare aloud, or testing them on maths equasions or whatever and oddly it was quite fun.
Also.. your kids are individuals. One of mine was not very focused on school, but loved his guitar.. so late in the evening he would play and compose and test his music on me (he now makes a bit of money from that!) Another is a massive Dr Who fan, so we always made time to watch together...
Also, the oldest gets the most stress (I think) ..as firstborn there is more anxiety that they do well in exams, do sports, do stuff. The next one down gets away with more, no 3 even more so, and no 4 is always the baby... each position has it's advantages as well as disadvantages!
My firstborn was highly academic (now a doctor) and if anything I think she had the worst deal because there were always younger ones needing me too... but we are very close and she adores her siblings. No 2 met an Aussie and is making his music in Australia, no 3 lives close by..another medic and we see each other most days. No 4 still at home and still watching Dr Who together.
It will be fine. We didn't do tons of activities as we didn't have the cash, but we holiday all together now (plus partners) and they all chat about their childhood very happily so I figure no one resents their position in the pack!