Let's see:
46 And it came to pass, that, after three days, they found him in the temple, sitting in the midst of the doctors, hearing them, and asking them questions. 47 And all that heard him were astonished at his wisdom and his answers. 48 And seeing him, they wondered. And his mother said to him: Son, why hast thou done so to us? behold thy father and I have sought thee sorrowing. 49 And he said to them: How is it that you sought me? did you not know, that I must be about my father's business? 50 And they understood not the word that he spoke unto them.
51 And he went down with them, and came to Nazareth, and was subject to them. And his mother kept all these words in her heart. 52 And Jesus advanced in wisdom, and age, and grace with God and men.
-- Luke 2:46-52
No, I don't see any indication that they were upset with Him.
>>No, I don’t see any indication that they were upset with Him.<<
Let me point it out specifically: “And his mother said to him: Son, why hast thou done so to us? behold thy father and I have sought thee sorrowing.”
Now, back in the Jerusalem of Jesus time everyone spoke in King James English so it needs to be translated into modern English. Let me take a stab at it (although this is only my interpretation):
And his mom came up and said, “son, why did you take off without telling us where you were? We’ve been frantically looking all over for you. We were worried sick.”
They may have even been planning on grounding Him for a week.
The point is, they were treating him as a parent might treat any child that took off without telling them where he was going. That at least implies a certain “normal” relationship between them and Him.