You know, not a single member of the Teen Squad has a current healthy relationship with both their parents.
Pikachu was raised by a Kangaskhan herd and tends not to get along with most other members of his species for some reason.
Shantae lost her parents at a very young age(her dad because he died, her mom because she had to leave the mortal plane of existence with all the other genies) and was raised by her Uncle Mimic.
Laharl's parents each individually died in the process of saving his life at different points in his childhood in ways that severely fucked him up psychologically.
Arle seems to have been raised by her grandmother because there's no indication as to whether or not her parents are around at all
I have no idea what species Carbuncle is but there only seems to be one of him and he's only had Satan, and then Arle, as caretakers as far as we know
Desmond is an enchanted basketball and has no parents whatsoever. While Toadsworth did adopt him they see each other as grandpa and grandson
The only indication throughout the entire series that Sora has any family at all is that his mom had a bit of dialogue from off screen near the start of the first game. He might have a good relationship with his parents, he might not, we have no idea because the Kingdom Hearts writers don't give a shit