OP, I totally understand your worry. I have been there myself and have cried a lot over it.
I had boundaries and routines. I had too. Even though i was married for some of the time and in a very demanding job, i had absolutely no support and ExDH was an abuser. A sadist. Horrible man.
My DC were always called well behaved by everyone and teachers darlings. And one day, I watched them in group settings when kids were running around and some running riot, mine were sitting down, not jumping on furniture, not throwing food, not challenging, just accepting. They will ask before taking something to eat. They will ask if they could go play on something if they weren't sure if it was allowed. Most kids didn't ask. I got home and cried.
I worried i had broken their spirit. For days i was distraught, then I realised that my worry was not that I had been too strict but that sometimes my strictness may have been harsh and I could be considered a shouter.
They always had been (and still are) very loving and caring to me, and I them.
I had to reflect and be honest with myself. I became very aware of how i went about raising them - tone of voice, way i worded things, how I told them my expectations.
I still check-in with myself till date. My DC still remain well-behaved and express their different personalities. I still have boundaries and routine but I am very watchful of myself of how i go about this.
Two have gone off to uni and are thriving and are just like other uni students, out having fun, think they know it all and have built a better life than home but are still respectful, very diligent, loving and caring. They are truly lovely people.
My teenager is a typical teenager - attitude, rebellious, moodiness, staying in her room, cheeky etc but very caring, respectful, well behaved and studious.
My youngest in primary school is well behaved, a teachers darling, headteachers pet, respectful, always obeys the rules but is cheeky, first to find the loopholes in any rules and exploit them.
And i still worry i have damaged them.
A bit long but I hope it helps.