I recall over and over thinking other mothers were so indulgent to their children but eventually learned that no, that is actually normal!
Yes, this has been central to my experience as a parent too. I've had to actively learn what is normal and to learn to NOT feel guilty for openly loving my child, showing him affection, etc. For me, this has also meant not having contact with my uBPD mother as I haven't figured out how to set good boundaries with her and at this point it's more important that I set a good example for my son (which means not being in boundary-busting situations with my mother).
A lot of parenting advice tells you to "trust your instincts." As the adult child of a uBPD mother, I realized that my instincts were either not so good, or were so buried beneath years of shaming, second-guessing, and overriding. So I've really had to learn what makes a good and normal parent while at the same time learning to find those hidden instincts in me.