My guess is that you saw punishment where it was excessive. This is a symptom of that lack of control at a deeper level. But control comes from self-awareness; removing authority would only make matters matters worse. Parents who try to be 'equals, as much as possible' will grow to dislike those they are responsible for and will periodically lash out in an uncontrolled manner. Literally so in some cases. Conversely, kids will willingly endure any punishment or chore in order to restore emotional connection to their parents.