I'm only 5'8", but I have also fallen short (tee hee) as a parent.
Relationships are complex, especially with kids that tend to grow to not need you as young adults and beyond. The good thing is that we have so many ways to tap into our relationships with others.
Maybe it's playing Wordle together or a game of chess. Maybe it's going on a hike with them. Maybe it's trying the new restaurant in town. The important thing is to try and to stay engaged, rather than focus on our individual shortcomings and remain perpetually stuck in the go-kart pit.