Both of mine have passed, in the last decade. I used to talk to them at least 2 or 3 times a week, and see them often as they lived nearby.
It makes me sad to hear about people who are estranged or have poor relationships with their parents. I had wonderful, supportive and loving parents, and I miss them a lot. However, I realize now how fortunate I was and know that not everyone has that kind of family dynamic.
OP, enjoy the closeness with your mom and dad. Don’t worry about what anyone else thinks. If all of you are happy, that’s all that matters. It is perfectly normal.