Is there a word for when a child no longer "hero-worships" their parents?
"Coming of age" to correspond with the adolescent Erikson stage mentioned above.
I don't have a word, just an expression. When a person ceases to look up to you, I would call that as "being taken off the pedestal."
The idea is that you used to be regarded like a monument (or a statue) to that person---something to admire---but no longer.