My father died when I was 32 years old, but by this time I had a family of my own. This is not to say that I had learned everything I could have learned from him, but rather that I did get many years of being able to share what he knew and experienced.
My father taught me how to hunt and fish and forage for wild greens, berries, nuts and mushrooms. He was instrumental in helping me know how to use hand and power tools. He shared with me is his enthusiasm for sports, especially baseball. He encouraged me to read both fiction and non-fiction. He taught me self-discipline.
It is not so much the technical skills as it is his attitude that has stuck with me over the years. "The right tool for the right job" and "Doing it right the first time is better than doing a job over again" are typical examples.
Much of this I have been able to pass on to my own children and even others (as a Scoutmaster or teacher).
More importantly, my father taught me that more and one person could love me unconditionally. No matter how poor my personal choices or how badly I screwed up, I knew that my activity might be frowned upon but I was still his son.
Did you miss anything important? Maybe, but maybe not. Perhaps you have been able to learn similar lessons from others in your life. Perhaps sometimes a bad example is as educational as a good one.
Your children and others who know you might be the best judges of what you may have missed. It may be that all you missed was the grief of having a poor parent lash out at you for a longer time period.