Love your kids and just be there for them. You don't have to eyeball their every moment or to orchestrate all their comings and goings. They know this. They know that's too much. All they want is to be assured that there's a home fire cooking, that there are two foremen and a rulebook, and that there's someone to tuck them in at night.
Don't let truth and grace forsake one another. If you raise your child with only truth (or your laws), they will never live up to your rules or expectations. No one can fulfill all of the law. On the other hand , if you only give grace to your children, they will run wild without restraint.