Well-adjusted children come from homes with clearly established boundaries.

BOUNDARIES:  I found a plethora of research on family boundaries.  The following are some of the more important points of agreement:

• Highly functioning families have clearly defined boundaries agreed upon by the family members.
• Boundaries between parents and children must be clearly understood and roles must never be reversed.
• Structure and routine provide a sense of predictability that bring safety and security to the home.
• When boundaries are crossed natural consequences are most effective.
• Executive decisions for the entire family are made by the parents.

https://www.psychologytoday.com/blog/how-help-friend/201604/how-create-set-family-boundaries