Kim Lucasti recently made a parenting decision she never would have permitted before the coronavirus pandemic: She let her 14-year-old daughter ride a bike into town without an adult alongside her.

In the past couple of months, Ms. Lucasti, who lives in Longport, N.J., has given more freedom to her teenage daughter and 12-year-old son. It’s partly because the kids are restless without their usual scheduled activities, and also because she needs space to handle her own tasks. “I have never left my kids alone in the house so…

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