Would you ever forgive your parents if they have abuse you?

I can’t say my parents abused me, but I was their first child and they made some mistakes. I think I’m closer to my father because he acknowledges he would’ve done some things differently. Mom’s attitude has been “we did the best we knew how”, subject closed. For the last 20 years we’ve gotten along beautifully and they been there whenever I needed them, and I’ve been there for them as well.