I think that no child will ever be 100% happy with their parent's choices, right? But it sounds like you put so much time and effort into homeschooling. I wouldn't claim to be an expert on education at all, but my guess is that a most of the time routine is great. We all need structure, but flexibility is also valuable. As to what your kids think, have you asked them? Even if they tell you that they hate every choice you have ever made (and I am sure they won't) it gives you the chance to have an open conversation about why you made the choices you did. I never really got that (beyond 'schools are all bad'). It sounds like you are doing an amazing job!