Judy, Thank you for your personal story.
Like your children, I grew up in a strict christian home . Sparing the rod was not a weakness of my parents. Despite this, my eight siblings became christians , some even pastors of different denominations. Two of them, when preteens ,tried to run away to a foreign country , were discovered and returned home within the day, deprived of more adventures. Mockery from siblings and a private talk with Dad prevented another attempt.
No question was too sacred, silly or challenging. Sometimes, as a teenager, we asked saucy questions. My dad answered- my parents listened and allowed us to express our points of view.
I remain grateful for their tolerance despite the rigid rules etc.
Compassion, commonsense and Christlike humility helped us all.