The teen years can be trying, but I love them as much as the ones before. If you don't hold too tightly while being there when needed, guide when needed but don't dictate in non-critical matters, be available to listen when they do want to speak - they will come back to you. It was so rewarding to watch our daughter (20 now) go from being a kid into a strong young adult who is now both a daughter and a friend. Our son at 17 is still going through some of those teen phases, but there are moments when he will acknowledge he has great parents and even hugged his mom in front of his whole wrestling team last night. I spend a lot of time going to do what he loves (disc golf often) and just being available in case he wants to talk.
Will they screw up? Yes, but that is part of learning. Will it be hard to not know everything they are thinking and feeling? Yes, but that is part of becoming functionally independent. Will the years be frustrating at times? Yes, but even more so rewarding if you allow them to become who God intends for them to be and not who you wish they would be.