I was born in the mid-70s and I'd say my parents were firm, but also very kind. We were definitely expected to have good manners, do as we were told, tidy up our own mess, and generally not be a pain in the arse to anyone around us. If we were doing something we knew full well was wrong, we'd get spoken to sharply but not really shouted at and I don't ever remember being smacked. Both my parents were very affectionate, praised me a lot, told me they loved me etc. They would never have made me eat something I hated, but they also wouldn't pander to fussiness by preparing separate meals - basically I was allowed to only eat the bits of a meal I liked, so if it was casserole, broccoli and potatoes I didn't have to have the broccoli and I could pick the peppers out of the casserole, that kind of thing). They had no issue with me getting all my toys out and making a mess, provided I tidied them up again when I was finished, and they massively encouraged us all to be creative and curious. They'd answer difficult questions honestly and would apologise to us if they felt they'd been too impatient or got something wrong.
Generally speaking, I think the overarching theme of my parents' parenting was that they wanted us to be decent human beings who were kind to others and didn't consider ourselves more important than anyone else. So they absolutely were not the sort of parents who would let us, say, run around and make a lot of noise in a cafe in the name of self-expression, or climb over people's furniture when we went to people's houses. But they would also explain kindly to us why that wasn't considerate towards other people, just like they'd explain why it wasn't fair to push in front of other kids in a queue for a slide or something. They encouraged us to be individuals, but I also think they made it abundantly clear that our individualism didn't trump the rights of anyone else, if that makes sense.
By and large I think they got it pretty much right. I definitely think I grew up with a very clear sense of boundaries and I think my parents are largely responsible for me not being an unbearable arsehole. My sister is slightly more critical of my parents than me, but she and I are also very, very different in personality.