I agree. We instilled boundaries and discipline for our son from the earliest age he'd understand. Toys put away at end of play session, no painting/craftwork other than on the floor on a huge plastic mat, pens/paints etc all put away afterwards. All food eaten at the dining room table - no leaving the table until we'd all finished, no TV nor screens or games at the table - it was family conversation time! When he was school age, it was clothes, bag, etc laid out ready for the morning, homework done at the table after meal, and had to be finished before play/tv time. Bath every night before bed. Reading in bed (no games nor screens as it was wind down time). Start early, get them trained into pretty reasonable/normal behaviour patterns.
We had no problems at all as he grew older. When he started secondary school, same philosophy, he packed his school bag and got uniform ready the night before, did his homework at the dining table after tea before he could go off and play/watch tv, etc. It was just normal routine, but backed by boundaries and discipline. Never had a single detention or punishment from his teachers, never missed a homework deadline, etc.
We never actually "disciplined" him, we didn't have to, we'd just drummed it into him that he needed to do as he was told, when he was told to do it, and if you start early enough, it's just natural. Over the year, he got plenty of "rewards", never linked to good behaviour, but just part of being in a respectful household.
My own father was RAF, so I was brought up the same way, i.e. not a thing out of place in the house, shoes shined daily, clothes ironed daily, etc, following instructions without question, etc. It worked for him, it worked for me, and it's worked for our son. OH wasn't brought up the same way, but I soon "trained" him when we first got together and now he's the same too, so we're a family full of respect for each other, respect for boundaries and for rules/laws, etc.
Too many kids are stroppy for the sake of being stroppy and just rebel for no real reason other than to rebel. As long as there is no element of abuse, then kids need to have boundaries and discipline. It makes them better adults if they understand respect and that rules are there for a reason. Life is so much harder if your constantly battling against the system, other people, etc. No need for it.