>>However, it was miserable to start primarily because we tried to mimic the exact school environment and schedule at home; a complete disaster

They had decided how, it just turned out they found a better way after giving it a try.

>I suppose I just imagine most people have an idealised view of their child's education, and then decide they need to home-school to realise it. But perhaps that just wrong, I've no experience, first-hand or otherwise.

They do, and they also have idealized views of their children. If you go into home education with a rigid plan of execution, you (and your children) are likely going to have a bad time.

Teaching is hard. Striking out on your own vector of pedagogy is a large risk that, if done well, can yield very large rewards...it can also be a disaster.