If at any point you feel like things are getting worse and coming to a head, especially when out in public, just remember "Your parents were cool once, they got this way by having YOU!" - - well - - when they get to be teenagers and trying to be cool in front of all their friends, you get to do the PJ's and embarrassing stories... It's called PAYBACK!!
It only gets worse the larger the age gap... There are days when I could give DD away, then others that she's a sweet bean... Mostly it's an overly conscious effort to give her some time with just Mom or Dad... Does that work - sometimes..but most of the time ugh... <sigh>