Glory, I understand how hard it can be, I was pretty rough on my parents as a teen. Too much of the 'teenage angst-nobody understands me-they are ruining my life" feelings. I work with teens now, and have to constantly remind myself they live "in the moment", feelings are raw and they often don't think about consequences, and parents sometimes seem like the enemy.
My parents were great and didn't push too hard. After college, as I grew up my parents became important as I saw their experiences and sacrifices, and I understood all they did for me. In my late 30s my husband and I even lived with them for 3 years while in grad school! and now I see them weekly, and cherish that time, as I know it could end any time.
You kids are lucky to have a parent who cares about them! They do notice the difference from a caring parent and an absent parent, even if they don't consciously say it. When they are older, and wiser they will realize it!