DD is 12 and certainly hormonal and stroppy at times. I feel we have a good relationship without too much stress or bad words. She is worse when she is tired, hungry, 'stressed' (e.g. lots of homework) or has had too much screen time (typically 20 mins. on her phone on Sat. and Sun., no social media but she can and does watch YouTube videos, and she can watch TV at the weekend but not before 10am and not for hours on end, but as we don't lock the TV she has sometimes watched 'too much' when we've had to go out or occasionally has been with a friend who has more screen time - we really notice that DD is much more irritable afterwards.)
Obviously every child is different and what 'works' with one doesn't work with anotherw and children develop so having a harmonious relationship now doesn't mean it will be that way forever.
So, without wishing to sound patronising, I try to be really clear about what needs to be done and when, e.g. we need to leave for swimming at x time and you need to pack y and I will bring z. Everything for school is prepared the night before. There are clear 'non negotiables' that have to be respected.
I try not to get angry and I don't think I shout. I want her to know she can come and ask me for help and also come and tell me when she has made a mistake.
I do not cut her off when she is speaking and I try to listen to her point of view. I try to be positive e.g. 'today we didn’t have badminton as the teacher was sick'; I think, 'that's shit, it's the third time that's happened and we pay for it!' but I will say, 'oh, did you do something fun instead? I hope your teacher is ok' (DD seems to adore most of her teachers and gets frustrated if DH or I criticise or question the school.) I listen to her very enthusiastic and long accounts of her school day etc. even though they can be extremely boring.
I do not sweat the small stuff. If she has a big day ahead and just wants to eat one bite of breakfast I let it go. If it's raining I tell her but if she doesn't wear a coat / take an umbrella I remind myself she is not a Victorian waif who will catch consumption and keep my mouth shut.
I praise her and thank her for what she has done well.
Where applicable / appropriate for an adult and a child, I hold myself to the same standards, e.g. no phone at mealtimes, no excessive screentime, dirty clothes straight in the laundry bin, tidy up after myself, make the bed (well, DH does this), open and close the bedroom blinds, put away keys/travelcard/papers in the right places, being on time.
Also I try not to compare DS and DD.
DH is great with DD in that he is very patient in helping her with homework and he has a lot of energy (and other things I have mentioned above.)
I hope some of this helps, OP.