We are still very close, no mom, but she has almost complete independence, and is now choosing her path in life, is making good choices. We are lucky.
IMO, you are doing it right. You have given your child the tools to develop into an independent, responsible, and productive young woman. I'm sure she knows that you will always be there if she needs your guidance and support...or dinner. Props to you, SCDad.
On the other side of the picture is the son of my DW's co-worker. He's a 15yo HS freshman, isn't trusted to be alone in their home, and has to me told by his mother exactly what to do and when. It's not that he has behavior issues, or can't follow directions, it's that his parents (mom, mostly) haven't taught him how to think or be responsible for himself. At 15, he's less capable of being independent than my 8yo DD. Seriously. The boy has expressed an interest in going to college in Indiana. Mom is planning to get an apartment to share with him. I find it very sad.
Here's the problem....what if you're the coach too? If the coach is responsible for correction, how do I be a dad and a coach?
At some point, if you want your DD to be "good", you have to stop being her team coach.