I think this is not an uncommon thought from most people at least some of the time. None of us are perfect, therefore we cannot always be the perfect parent. (Or child.)
There are some things I think I did right though. One of those things is playing games with them and a favorite of mine, and I hope a good memory for them, was playing outside on the sidewalk.
Games like Mother May I, Red Rover, and of course, Red Light Green Light.
The way we played Red Light Green Light was to have them (and usually a bunch of neighbor kids) on the sidewalk at one end in front of our house and me on the other end. I would quickly turn away from them calling out "Green Light!" I would wait a few seconds then call out "Red Light" as I turned back around. They would try to move closer to me while my back was turned, and then not be moving when I turned back around. To be caught moving meant you had to go back to the starting line. The first to touch me was the winner.
I was reminded of this game just a few minutes ago when one of my daughters-in-law sent me a video of a kitty trying to be sneaky.
It's been a long time since I've played Red Light Green Light and an even longer time since I've had to think about things like crib bedding. But it IS a fond memory for me.
What games did you play with your parents?