Milam K. Freitag, Jay Belsky, Karin Grossmann, Klaus E. Grossmann, Hermann Scheuerer-Englisch, Continuity in Parent-Child Relationships from Infancy to Middle Childhood and Relations with Friendship Competence, Child Development, Vol. 67, No. 4 (Aug., 1996), pp. 1437-1454
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Freitag et al. (1996) studied this question.