My oldest was an extremely prickly teen- I made her crazy & I am pretty low key about things. She was just having a tough time figuring herself out. Lucky for her, I took none of it personally.
In her early 20s she went through some bad stuff, emotionally, and moved home for about a year, we helped her (carefully) figure out the future and she has made a great life. Now she is an absolute delight, the best part is that she has such a sense of humor about the past. We are often joking about how bad she was as a teen & how great she is now.
Whereas at university she would barely text, now she shares her location (cuz she is single, so for general safety) & no, we never check, but she likes knowing it is there and it is just such a huge change. All to say there is hope 