OP,
From above it can be normal for some people to experience this.
I didn't.
Is there a grain of truth to what your mother says?
If so, start being less soft, firm up with them.
It really is in your own best interest.
I found prompting my children before we went anywhere about not wandering off helpful.
Children can be terrorists that can smell weakness.
They need to know that YOU are boss.
This can be done kindly, but firmly.
My daughters have come home from a couple of playdates over the years, genuinely shocked at how at how a couple of classmates spoke to their parents, REALLY disrespectfully.
I definitely recall the lovely mothers telling me what wonderfully behaved girls I had.
Now my girls are great, but the truth is I would never take being screamed at by my child and my kids know it, but I have of course had to remind them to watch their tone with me at times!!
Same with my boys.
So these things grow over time.
As I heard someone once say "if you can't control your 5 year old, how the hell do you imagine you will manage a 15 year old.
Start as you mean to go, because even doing a good job I feel when they were young, the teen years can be challenging.
They need to respect you and believe that you will follow through with boundaries.
You sound like a lovely mum doing a great job.