Weirdly, yes. My childhood did damage me, because my parents were damaged individuals themselves, but they also clearly loved me and were honestly doing their best. Which is doubly amazing since our family went through some pretty traumatic times (death of my sibling) which they were emotionally ill-equipped to deal with, and still we pulled through.
So they handed on to me their own anxiety and low self-esteem and a tendency to be a rescuer. But I never doubted that I was loved, growing up. I did doubt that I was lovable, though, and still do, since my mother was erratic and very critical, and my father her passive lackey. If that makes sense. They loved me and meant well, but were shit at being consistent or respectful or truly present.
I also lived in the country and had animals and good education and lots of great holidays, and that really stands out in my childhood memories.
To answer your question, OP, I now believe that the very best thing parents can do to ensure happy children and healthy grown-ups is to show their children respect, consistency, openness and attention in addition to love and affection.
Those are the things that were lacking in my childhood, despite the love I got, and that has left its mark.