As a parent, do you struggle to tell your children no?
Perhaps this makes me the odd one out, but I didn't really struggle with this at all. I began having children in my thirties, and I already had more than a decade of working with young children, I also feel that I had an excellent model in my own parents. They often said "yes" to wants, but were not afraid to say "no" for a variety of reasons. Asking one's parents for something should not be a mere formality. One of my particular pet peeves is when children say "I'm getting such and such toy, game, tech, etc for my birthday/holiday gift". I could tell my parents what I hoped for, but I always knew that there was no guarantee of getting it.
One thing I will say is that with my own children, I tried to say "yes" if it was at all possible. This made the times I said "no" easier to swallow for them. Sometimes I said "yes, when . . .", as in "can we go swimming?" "Yes, when the dishes are done and the laundry is folded". Doesn't that sound much nicer than "No, we have to do the dishes and fold the laundry".