I've become sort of an accidental advocate for attachment parenting which is a style of parenting that… basically the way mammals parent and the way people have parented for pretty much all of human history except the last 200 years or so.
Kids are a great analogy. You want your kids to grow up and you don't want your kids to grow up. You want your kids to become independent of you but it's also a parent's worst nightmare: That they won't need you. It's like the real tragedy of parenting.
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You must first have a lot of patience to learn to have patience.