A beautifully-written piece. I especially liked, "The harsh reality is that their teenager can't grow up without taking risks, can't take risks without denying danger, and can't deny danger without creating the likelihood of harm. So parental worry is honorably come by."

Indeed. And because parents (as well as other more experienced people) don't share the teenager's capacity for denial, their concern is utterly inescapable.

Which brings me to the only line that clanged a bit to my ear: "The decision to worry was yours alone."

Decision to worry? No, but perhaps decision "how" to worry, and the more conscious expressions of concern you suggest seem on the mark.

Are we emotionally wired to worry, or do have some measure of choice over whether to worry or not, and therefor some power of responsibility in the matter? I don't know.
I do know that I have been able to help some people learn to worry less. Sometimes this involves letting go what is not theirs to realistically control. Sometimes it involves altering their beliefs about fearful possibilities. Sometimes it involves confronting the costs of the worrying they do and deciding it is not worth paying that unhappy expense.
Thanks for writing.