Yes. I have a 32 (from when she was 9), 20 and a 14 year old.
Each one challenging in their own way. My ability to 'parent' each changed over time.
First, I was probably more traditional, so taking a more top down approach when it came to setting boundaries. This didn't always work as I was dealing with a traumatised child - realised I needed to research and develop new tools to manage.
Second, I was more relaxed and used lessons learned from the first in terms of involving her in age appropriate decisions about things in her life.
The youngest is autistic and has a very high demand avoident profile. Completely different set of skills needed when it comes to boundary setting - he needs to feel in control (stemming from his anxiety about his environment and feeling so out of control in so many areas of his life) - so I have to set boundaries in what on the surface looks a much more co-operative way - but is actually a very complex weighted negotiation, that both keeps him safe but also recognises his need to feel autonomous.
It's definitely not easy, but it can be done with practise. Essentially trying to develop a skill base using the language of co-creation, behavioural shaping, and collaborative autonomy. I was already using some of these techniques with no 2, but the 3rd was a crash course - if I hadn't changed quickly, family life would probably have collapsed by now. (I recognise this is a fairly extreme situation)
This is where the concept of 'gentle parenting' gets warped. So many people have adopted parts of the theories but miss the part where you have to actively work to change yourself to build a new skill set of parenting tools. It's not about giving children free reign or treating them as 'equals'. It's about the parent as the person with a more developed skill set using that 'authority' and knowledge to recognise the growing autonomy of a child and create an environment that recognises that.
You still have the same age appropriate controls/boundaries/expectations - it's just the 'how' you set them that changes. Any adult should be able to out negotiate an 9 year old. I think it helps to think of these as general communication tool sets rather than the more loaded 'parenting'.
I am not and don't claim to be a better 'parent' - very far from it actually. I have just been put into situations where I have had to learn/practise different communication approaches to essentially get to the same place.