I have a great relationship with my mom (dad passed away several years ago, but I had a great relationship with him too when he was alive). My sisters still live with my mom (by choice, not out of necessity, because they enjoy each other's company so much), and it's culturally acceptable for them to do so. Whenever we go back to our home country, we stay with my mom.
Growing up...
My parents always took a genuine interest in our lives. We ate dinner together as a family every single evening, even when my mom worked late and was stuck in traffic -- we waited for her to get home to eat together. During dinners, my parents listened to us talk about our day. They empathized with us without telling us what we should do or trying to solve our problems for us. They respected us and trusted our ability to solve our problems. They only gave advice if we asked for it.
They said sorry if they said or did something to aggravate us, and they backed off when we asked them to.
We enjoyed vacations with our parents because 1) they paid for everything, and 2) they chose a location but would let us choose the activity. For example, when we went to a resort in Cuba, the only stipulation was that we had to meet together for breakfast, lunch, and dinner, but the rest of the time, they just asked us what we wanted to do, and they would join us if it was something they were interested in, or they would go do their own thing if it was something they were not interested in. They would also tell us what they wanted to do and ask if we were also interested.
They let us be us without trying to change us. They appreciated our quirks and idiosyncrasies, and while they sometimes gave suggestions for us to improve ourselves, it was always from a place of acceptance. They never compared us to anyone else. They appreciated and respected our ideas.
Currently...
My mom trusts us to make good decisions. Whenever we go home for the summer (pre-pandemic), she would ask us what we wanted to do. Sometimes she had to go to work or take care of her own business, but she would allow us freedom and independence. She showed consideration for our preferences (just like when I was growing up), thereby modeling kindness and consideration to us. In return, we tend to show consideration for her preferences and needs, which makes for a very civil and pleasant household.
When I tell her my preferences, she does what she can to make sure I have what I need upon arrival to do what I want to do. For example, if I said I wanted to go up to the cottage for a week, she would see if I could have one of the cars so that I didn't have to rent a car. If I said I wanted to stay with her for two weeks, she would try to rearrange her schedule so that she could be home, and she would make sure that we have a private bedroom, bedding, a private bathroom we could use, etc. That usually entails one of my sisters moving out of their room and into the spare room, and sharing a bathroom with my other sister. I never feel like I'm imposing on them.