Absolutely not. “Negotiation of relationships” practically means bullying and all sorts of antisocial and abusive behavior. There must be boundaries set by adults.
"Helicopter parents are so named because, like helicopters, they "hover overhead", overseeing every aspect of their child's life constantly.[1][2] A helicopter parent is also known to strictly supervise their children in all aspects of their lives, including in social interactions."
"study from the University of Florida found that helicopter parenting was associated with more emotional problems, struggles with decision-making and worse academic performance in a group of 500 students"
The power struggles of kids at that age are honestly more extreme than what adults face because kids are forced to interact, have low agency outside of play, and underdeveloped empathy.