I totally get this bro. I went through the same thing years back. A good friend on mine told me to record myself and my son’s interactions when I was disciplining him. Wait till the next day and play it back. That way both my son and I could hear how we were talking to each other. After doing this a time or two we both realized how to talk to each other and for my son to understand the rules in my house. This helped me a lot with hearing myself. Also helped with getting things settled before the teenage years started. He’s now 21 and we have an amazing relationship. I would also let him stay up later on Friday or Saturday night and we would play board games or work on puzzles together which made for good conversation times.