I think it’s significant that when giving Yondu’s eulogy, Peter specifically describes him as a ‘pretty cool dad’ in call back to the Mary Poppins y’all moment. That was a moment when Yondu, having shown himself willing to cross the universe and defy a planet-god for Peter, also made himself vulnerable, and Peter recognised it and read between the lines of what he was trying to say. So rather than trying to say that Yondu was a good dad, he reaches back to that moment when they connected and understood each other, and allows that to stand for the relationship, flaws and all.