Absolutely. Dc now mid/late teens and such a pleasure to have around.
Dh and I were developing into old grouches before they came along- and we were only in our 30s. Can't imagine what we'd be like by now if we'd just carried on unchecked.
I think different children do different stages of their lives better, and different parents cope better with different stages of their lives too. I find the teen years pleasant, partly no doubt because dc are very pleasant people, partly because I don't at all mind being challenged verbally or being made to examine my own opinions. I struggled with the early days when dd was failure to thrive.
The only thing that is not perfect is their genetics- they have inherited a condition from me which has caused a lot of suffering for dd in particular. Having said that, she finds life worth living, not least because of the way she overcomes her difficulties.