I have generally nice, compliant teenage dc. I'm not inclined to take all the credit for that, & we have certainly had our 'fuck off, mum' moments.
I've also taught teenagers for over 20 years, & the suggestion that you can just 'enforce your will' on a 13yo whose response is: 'well, no, I'm not getting in the car, I'm bigger than you so you can't drag me & I'll get really aggressive if you try. Plus if you ground me I'll climb out the window, you aren't getting my phone & you can't physically take it from me because yep, still bigger & stronger than you, oh & I'm off to crash on the sofa of a mate you've never heard of & FUCK YOU'...well, it's naive.
Boundaries are great. High expectations are even better & an understanding of parent/child relationship changes over time is really important.
Thinking you're going to physically haul a defiant 6' teenager into a car or remove his phone against his will if he's backed himself into a 'FUCK YOU' corner - no, that won't happen.
& whilst being on top of things from an early age helps, if I had a fiver for every parent of a kid in my tutor group I've known who did all that & was pretty gobsmacked when their easygoing, compliant teenager suddenly went full teenwolf without warning, I'd be retiring early.
OP - I generally found a 'come on, humour me' approach worked best at this age. 'Yes yes I know, bit naff right? but I'd love a good old fashioned day out & you know your dsibling would adore it - anyway, if you can beat me on <competitive theme park thing> I might buy you that <coveted thing dc has been nagging for>.'
You let them be the cool dude slightly patronisingly obliging their mum & younger siblings, not the grumpy 'I'm too old for this shite' kid being dragged by the ear to do something babyish.
It's worth a try.