My experience, some kids get it. Some dont. Keep preaching and teaching the right way. Been that way for a long time.
Franklin Graham is a good example of going through a rebellious period and then coming back around.
Discipline—particularly harsh discipline—without sufficient heart-to-heart emotionally bonded CONNECTION will virtually always result in rebellion. & Very understandably so.
Parents will either give kids sufficient quality attention, rearing, mentoring, training—or—they’ll pay in grief, lawyers’ fees etc. the rest of their lives.
I have known maybe 3 families in 7 decades who did not have rebellious teens. Was not any ‘need’ for it. Parents taught their kids lovingly how to succeed in life with honorable values. And, they loosened the reins step by step having taught the kids progressive steps to standing on their own feet making their own successful decisions.