i love what youve shared about your idea of a healthy relationship and that you have your own idea about it to begin with~ 
about the better communication bit, youre right eh it really takes conscious effort and patience to try and be honest with our emotions yet still remain warm towards each other in the process, having a supportive partner like you said really makes a world of difference!!
agree about boundaries!!! for me, i realise boundaries also ebb and flow as we change, so constant mutual understanding and agreement on what boundaries look like for each other is also helpful! sticking to a singular boundary set sometimes makes relationships inflexible and unyielding~
ig it is an unending task figuring out what we want in life cos that changes as we age and move through the different stages, hopefully we find the person who can embrace us and whom we can embrace through the changes too, without the love between us diminishing
i guess what we have control over is always our own actions and choices, to be clear what we want to choose for ourselves at each point in time, knowing the potential downsides of our choices and having no regrets about it~
im sure you will be able to choose whats right for you hehe 
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