I do, but it isn't without challenges. My Mum has very few boundaries, tells me what to do constantly, thinks nothing of putting me down in front of dc and there's a lot from childhood I've forgiven her for even if she's never asked me to! 
I think parenting is bloody hard, and I hope my children forgive me for the times I wish I'd had a gentle word rather than a consequence. Now I'm a kitten compared to my Mum, but still I can't imagine getting your children to adulthood without some significant mistakes.
I think I have noticed where there is a healthy relationship there is a good balance of loving support, guidance, boundaries, teaching, and consequences (parents shouldn't be pushovers) with the parents having a healthy "out" that doesn't include children. Hobbies. Friends. Time away from parenting. Not that takes them away too much from their kids, but something that means their kids aren't there absolutely everything. There's something else they have that takes the lens of the dc every once in a while so their self-worth isn't completely tied to parenting and their children. It prevents kids from feeling suffocated. I have one friend who is currently like this with her child and she is rebelling big time at age 11. It's too much, too stifling..
The four friends from childhood who had the parents we all wanted have had a fascinating perspective in adulthood, and interestingly are LC and NC. Which is shocking if you knew how amazing we all thought the parents were.
Parent set 1 - minor celebrities due to sport, very much had their own lives outside of parenting. A lot of pressure on kids. Kids were high achieving but I admit by sixth form you could see things were amiss. But they have 3 kids: 1 extremely mentally unwell and she and psychiatric team feel the parental pressure + very little real time spent investing into kids rather than image, played a role. They were the most present, non-present parents. Aka we are busy but you better be the sports day start and get all A's. Left this child to parent the younger ones when they were too old for a nanny. This friend is very very LC with them. Middle child has gone NC blames them hugely for severe eating disorder and depression. Youngest is sports star and as self serving as they are and they socialize loads together. These parents were fun and games, loved at the school, donors, very funny, charming, and loving.
Friend 2 - Parents did anything for their kids. Greek immigrants and the Mum always was feeding us and giving up the lounge so we could hang out etc. The parents never had needs, it was all about the kids. But they lived for their kids and only for their kids. A bit suffocating/intense but hearts in the right place. The Mum could have friends over and the kids would turn up with friends and she'd immediately vacate lounge and start baking for us etc. Their kids could do no wrong. Nice boys, but I don't think learned to see how their parents may feel. Eldest boy was my friend, he married someone who is very difficult and he has no ability to stand up to her. None. He basically turned into his Mum. His wife only lets grandchildren see grandparents 2x a year for 1-1.5 hours (sends them a "you can see grandkids from 1-2:15 pm on December 27" emails). This friend says he wishes he could make it easier but it's his wife and he wants her to be happy. I remember for years his Mum would constantly say how much she wanted this friend and his brother to be happy. No backbone.
Friend 3 - Most amazing parents. Wealthy from Ireland. Kids never had chores, just truly lovely parents. Mum was a writer. Always freshly baked goods, hugs, welcoming atmosphere, support for whatever kids were involved in. Not sure she ever had a cross word with them. Gave all 4 kids deposits on homes £300K ish. Seriously. As adults I'm ashamed to say none of the 4 kids are really there for their Mum. They use her. Free childcare (50 hours/week), free vacations (she had a holiday home). After the death of her husband she was grieving and sold the holiday home. The fuss they put up. None ever seeing it from her perspective that she felt too isolated there (it was remote) and she wanted to instead to have less responsibility. She kept it for years none of them ever helped with maintenance even when she asked. They would use it for a couple weeks and leave no food, cleaning to be done, boat to be tidied etc. She was in her late 60's and couldn't anymore. Next they asked her to go to a destination wedding with them and she treated all the kids to tickets and she spent all day every day baby-sitting. They wouldn't even tell her when they'd be back. In 5 days she didn't have a meal with them, she was alone with grandchildren. She said something about how hurt she was, she realized no one wanted to spend time with her they just wanted her to baby-sit and they went NC. Seriously. NC. The worst offending child then sent her an email saying she owed them £400 for the remaining 5 days of childcare they had to pay at the resort since she wasn't there to baby-sit and they'd booked golfing, spa etc. I actually kept in touch with the Mum and see her a few times a year. She's so lovely and in her 70's is in therapy weekly for the first time in her life to try and help her cope with not seeing her grandchildren. A very brave woman who realizes a lot of where she went wrong as a parent was being too generous without letting her children see relationships are a two way street. She does have a good relationship with 1/4 kids, the one w/o kids who thinks her siblings are selfish users.
Friend 4 - Sisters spoiled rotten. Parents way too involved. Very very suffocating. None of us were close to them the girls who were twins. Both chose NC with parents in their 30's when they'd plowed through all their parents and grandparents money. I wish I was kidding. Parents spiralled into terrible depression last I heard.
So I think it's much about balance. Teaching your kids to use you isn't healthy. Teaching your kids you are a human with needs and feelings and that a relationship takes work, recognizing each other's needs and the need for healthy communication is very important. Teaching them you will do things wrong and people require forgiveness is crucial. But I also think it greatly depends on the stage your kids are in. You can be a friend to your child at 20 that wouldn't be appropriate at 10. But you should also be teaching and training them to need you less and less as they get older. Ensuring you aren't suffocating them and that they know you are always there for them, but their most reliable person is themselves first and foremost.
Looking back on friends the two unhealthy dynamics are suffocating/too involved parents and parents who don't have their own needs/boundaries that kids need to respect. For sure it's about balance.