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Rio_ said:

maybe I haven't been paying attention, but the majority of adults I know seem like they're in control almost all the time and rarely worry.

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I am going to go out on a limb here and say that I think the majority of people you know must be good at giving off that impression. Even the most "in control" and "worryfree" people I know are not in control almost all the time and are, in fact, not actually worry-free!