Sounds like you are a fabulous parent!
I certainly am not saying that what my husband I did was right, but it worked for us. On one had we didn't tolerate stupid, silly behavior. I HATE (yes, I know I'm shouting) those mini-carts at the grocery story. My kids sat in the seat of the big carts and no they were never allowed to push around those silly little carts where generally there is little to no supervision. We have left restaurants if their behavior was not what was expected. They were allowed to watch certain TV shows and see movies that others did not, but we talked about them before and after. Food. . . . you can do all you can, but once they start driving and go to Quick Trip to fill up and come home with super burrito and large slushy, all bets are off! ;)
My 2 are 2 of 11 grandkids on my husband's side of the family. Every year my mother in law has a 'grandma camp' where all 11 come in and stay with them. I remember when my son was 12 he took the movie, "My Fellow Americans" for movie night with the cousins. My sister in law came completely UNGLUED because they talked about 'wet dreams' in the movie and her son was NOT going to watch such trash!! Really? I had not clue what in the heck she was even talking about. OK, there is one tiny scene in the whole movie that has a single line that mentions wet dreams. My comment back to my MIL that if my nephew (who was just 6 weeks older than my son, so 12 years old also) didn't know about wet dreams at that age, he should!
We were (are) not lewd or rude, crude or socially unacceptable, but we were a little more 'liberal' that some of our friends, and apparently relatives. And as my husband says, we work on the Shock & Awe method of parenting, you never really know what is going to come out of our (usually his) mouth! If our 17 year old daughter is a little pissy and out of sorts, he may ask her if she's pms-ing!
My point to all this is, that now the kids are almost 22 and almost 18. They are smart, healthy, successful young adults without a criminal record, drinking or drug issues, or unplanned pregnancies. Not that any of those are bad, just parenting challenges. I can put them in any social situation, even formal corporate things, and not worry about their behavior or conversation. And as I said before, I'm not saying what we did was right, but it worked for us.