I've at times felt resentment towards my baby boomer/hippy parents for spoiling me and failing to teach me discipline, which I've had to learn in adulthood at w

I've at times felt resentment towards my baby boomer/hippy parents for spoiling me and failing to teach me discipline, which I've had to learn in adulthood at what I imagine is a steeper opportunity cost than if I had learned discipline as a child. But on the other hand, I'm sympathetic to their impulse to reject the parenting styles of their parents. My father's father beat him brutally throughout his childhood. My mother's mother would shame her relentlessly for any slight failure to comply to her will, even well past childhood - when she earned her PhD, despite her mother's wishes for her to instead become an MD, after 7 hard years of working on her dissertation her mother's 'congratulatory' card ended with "I'll still pay for you to go to medical school" (and she had not helped her pay for graduate school). They rejected the cruelty of their parents world, but gained a false optimism from the progressive, high growth times of the 60s through 90s, and failed to prepare me for the real world which is still plenty cruel.