Kate, I have the same issue and a big chunk is not having access....just knowing that there is a bathroom and I can go if needed, does it for me. I would not be able to do a job where I couldn't go if I needed too.
I saw Jamie Lee Curtis promoting her new book http://www.amazon.com/My-Brave-Year-...hildrens+books
and she was talking about how a parents job...one of the main ones is to encourage separation and detachment (obviously not as babies or anything but overall part of raising a child into a young adult). The little of the book I heard read sounded pretty good. And she makes a good point that kids have so many firsts and are always encouraged to try new things that you are really brave when you are little. Adults do not do new things that often!

