Question: If you had to choose between a very authoritarian style of parenting versus one that is permissive and lax, which would you prefer? Which is healthier for kids?

Answer: Both extremes leave their characteristic scars on children, and I would be hard pressed to say which is more damaging.
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Luke 23:32-43 (New American Standard Bible)
³²Two others also, who were criminals, were being led away to be put to death with Him. ³³When they came to the place called The Skull, there they crucified Him and the criminals, one on the right and the other on the left. ³⁴But