I think, (mine are now adults) that I did a reasonable job... they are all still close, still love us and are all (barring youngest who has special needs) independent.
But...I wish I had worried less, especially with my eldest, who is awesome but was a 'high needs' child and in hindsight needed a more experienced parent than I could be, with her being my first! She seemed neurotypical but wasn't and I do wonder if she would have been less anxious (she has asd, had anorexia etc) if I had been more relaxed , trying to do everything by the book!
I definitely became more relaxed and better the more I had :)
Just BE THERE. Let them rabbit on to you even when it drives you nuts, and yes always end the day with a bed time story .Mine can still quote their favourites!
I also wish I'd encouraged them ALL to learn an instrument! One plays (and makes money) with his music, but the others weren't interested, but I wish I had pushed that, and a sport, a bit more than I did.
And make sure you ARE interested in their interest, and do back up their education. I had two girls who were naturally academic and keen to work, a DS1 who wasn't and the teen GCSE years were hideous with him, but I nailed him to the kitchen table with past papers. He hated me at the time, but was grateful after results day when he'd passed them all, when several of his mates had not! (I know thats for the future but still )
And enjoy them... it passes so quickly! I had 4 little children, then I blinked and got 4 grown ups!