You can argue that many parents are less than ideal parents, but that is not sufficient to justify having the state step in. You also have to show that the state is less bad.
Decades of data on the foster system strongly suggests otherwise. The state, by any objective measure, is terrible at raising children.
I was told over and over by in hindsight unqualified persons that emotional abuse wasn't real abuse, so after a few years I was disinclined to seek help.
If I had had even one person that supported me unconditionally instead of none at all, even if that person wasn't a parent, I'm fairly certain I would have turned out differently. That was just a matter of luck, and I came out empty-handed. I never felt comfortable talking about what I was exposed to online with anyone, and that only hurt me further, but I was a child and couldn't see another option.