I think there comes a time in one’s life when you stop seeing your parents as mom and dad, and realize instead they are people too. It happens when you reach a certain level of maturity. So I imagine some never realize it and some realize it after it’s too late. Perhaps for many, as for me, it happens during young adulthood.
What I mean is you no longer think of your parents as simply parents, but as adults. They are no longer the authority figures, or those who we think have all the answers. Instead each is a person, like yourself, with hopes and dreams and plans. They make mistakes. They have happiness and sorrow. They try their best.
I think there comes a time when these individuals cease to be your parents and instead become your friends.