Annalise's relationship with her parents are good and quite normal. She calls them often but doesn't share much unless they meet in person.
As for my other two characters. I rather not spoil anything.
Cozmata and her two moms Nimbus and Keen are close. They have always been there for her, even if sometimes Nimbus goes way over her head for Cozmata. Keen is more of a "dad" mom, so to speak, so she gives her more freedom and is more laid back. At the end of the day, even with all their flaws, they love each other.
ill binge your series once i have free time
I do too, its a very personal subject for me and I want to see a story where we're actively working on not adding to abusive cycles but rather healing and being better. 
In the case of Jekyll, his parents were very negligent of him as they had a kid for fun, but lost interest when they became bored/annoyed with parenting. With that said, his parents and him don't talk. As for Hyde, he doesn't have any because he came from Jekyll's soul.
Warrick's relationship with his creator who can be called his mom is great. They get along well and clearly are close. She is very doting on him and in return, he takes care of her. Or rather, he did before he went into his coma and woke up 500 years later. As for Stella, the parental figures in her life were her grandparents and they were extremely good to her.
Word's "dad" is his owner James and he's a very loving one to him which is the point of the story really.
Adi has a good relationship with her adoptive parents (even if they don't really understand her). She doesn't know who her birth parents are, but has a lot of questions for them if she ever finds them.
Koreal (who has not yet made an appearance in the comic)... was disowned by his parents, so that relationship is, at best, non-existent.
Kerren had a great relationship with his parents (until insert spoiler here )
now his parental figures include Mrs. Calloway, and Marrick.
He loves Mrs. Calloway, feels like he's disappointed her though. Marrick... it's complicated. he pretty much just like.. lives with him??? like now (specifically like chapter 7 time) it's kinda an indfference.
Summary
putting mine under a read more owo;
Dutch: Doesn't really talk to his parents much, these days. He's not estranged from them or anything; he's just been away from home long enough that the most contact he has with his parents are a couple letters he writes to them a month.
Alex: Only has vague memories of his biological parents: they were killed in a head-on crash when he was very little. His aunt Betty took over as his guardian soon afterwards, and he's pretty close to her.
Lee: Thinks that his mother is the definition of a tiger parent, which annoys him, but he's still close to his parents.
I'll go with the characters introduced so far.
Lucy: Doesn't have a good relationship with her mother but I can't reveal why just yet. She has a good relationship with Solomon, she thinks very highly of him and sees him as her father figure.
Jack: Has a great relationship with his parents and wants nothing more than to see them again.
Mel: Never knew her parents but I hope to reveal that soon.
Norman: Never knew his parents, but Adrielle, his aunt, is raising him as if he were her own. They have a great relationship but Norman is kind of a weird kid and she doesn't understand him sometimes.
Vincent: Hates his mother with a burning passion because she was part of a cult and contributed to sacrificing him.
Well, my main character does not have a good relationship with them, like at all. The result of very narcissistic parents with a heavy preference for his sister. Him and his sister have a close relationship tho!
It's still to be told in the story, but my main character's parents divorced when he was 10, his father left town and hadn't seen him in six years, plus he barely called or texted him. Now he's 16, he had to move to the town his father lives to play hockey and they reunited, but although he tries a lot to get along with him, the old man keeps the distance and seems not to care at all about his kids. But I'm still building this relationship.
Another one has a close relationship with his father, but the old dude is too harsh and demands a lot from the kid.
In order to have a relationship with their parents, they should still be there.
This is valid for both the main characters, Annie and Scott. Victorian times were tough.
Despite this, Annie's father figure, uncle Scott, is always with her and they are quite connected in life. There is a good synergy between the two and an average of 20 years of difference, they have grown up and fought the difficulty of life together. 