I really don't think how well you parent determines how well the teen years turn out. I have a friend, one of two children, she was lovely, her sister was a living nightmare of a teen, into drugs, older men and dropping out of school at 13. Parents lovely (plenty of love, cuddles, boundaries early on) but utterly bewildered.
Adolescence is a hormonal time, of physical bodily changes, and for some, that means predispositions to mental health issues, or eating disorder and so forth come to the fore and become visible, that's incredibly stressful. Its bad enough having a teen with these problems but then people end up piling a whole load of guilt on themselves about could things have been different, what did they do wrong and so on which in the main, in the absence of truly poor parenting, is very little.
I have a preteen and a teen and in the main they are ok, but there are touches of low self-esteem/depressive thinking, slight 'stay in my room and never emerge' behaviour, the odd strop and so on inbetween being really good company. I think my approach is to give a little slack, but I won't be spoken to like shit in my own home, so if there's rudeness, I encourage them to go to their rooms, and if it persists more than a one off/obvious tired/hormonal episode, I just threaten not to take them to clubs/restrict internet use the next week.
This works with them, with a bit of flouncing, but would have been utterly inadequate with my friend's sister who would have just laughed in my face and run away.
I don't think there's a one size fits all way to parent teens, and if you have the (large) minority who are truly struggling with themselves, mental health issues, anger and you feel they are bringing the family and you down with them, you have my sympathy.