My brothers and I got our asses warmed up on the regular from the best father any kids could ever have. No such thing as ADHD, just rambunctious boys being boys. None of my brothers and I felt we were abused. We have/had successful, happy lives lives.
None of my brothers or I have ever expressed a single regret about our childhood. We were never abused. We knew the rules (created before we were born) and we knew the punishment. We took calculated risks weighing the fun factor versus getting caught for doing shit we weren't supposed to do. Most of the time we got away with having our fun but about 10% of the time we had to pay the piper. We grew up relatively poor but never knew it until we were adults. None of us would trade our childhood for any other kids on earth. We had a fucking blast and were always supported in any worthwhile endeavors we chose. Our parents kept us on the straight and narrow. No regrets.