Thank you for the kind words! I don't think we can ever truly be prepared. Just seems like such a vastly different experience from anything else we might've don in the past. So yes, learn as we go.
One of the biggest compliments I've gotten is when my youngest told me recently that her friends in high school and college thought we were the cool parents, because we treated them like people.
What a wonderful compliment, indeed! It's a great treasure in a young person's life to have a parent (even if not their parent, just a grown-up) who sees and recognizes in them that maturity.