I’ve hit that much coveted point with my kids.  PARK AGE.  They’re all in a place now where I can take them to the park and set them free to play.  To make née friends and generally do “kid stuff” for a couple hours here and there.  I don’t have to continually watch for fights, or spend time hovering around the smallest to be sure he doesn’t haul off and slug someone else’s angel.  I still keep them in view, still keep an eye on them, but it’s much less stressful a thing than it once was.
It is as close to perfect a situation as I could imagine. Â The still-closeness of child and parent with just a touch of space to free both sides of the equation.
