I think we all still turned out OK. We learned from it. We weren’t physically abused unless you count the whippings we deserved. LOL It was mostly mental (fear, dread, etc.) Dad was a good man but old-fashioned. He had a stroke a couple of years after he retired, in his early 50’s, and eventually admitted his errors to all of us.
Everyone makes mistakes as a parent. I have many regrets.
My parents were...sort of psychos... took me years to get a lot of stuff sorted out/free from.
Humans have human frailties. Gotta love them anyway (sometimes from a distance) and always forgive.