This is such an interesting thread.
My mother was very dependent on me. Not in the way of an alcoholic/addicted/completely non-functional parent who needs their child to completely care for them, but she certainly seemed to veiw me (and use me) as some sort of extension to or accessory of herself. It's sort of hard to describe, but she essentially expected me to handle my older brother and take care of myself at a very young age in addition to managing her emotions and stress when she was overwhelmed.
Anyway, I can tell you that from a very young age (around your daughter's, probably), I also learned my mother's cues when it came to her becoming over taxed. And I did not cling. I hid. I compensated by attempting to do more practical stuff that might prevent her from escalating. But I certainly had no desire or instinct to touch her. Or be near her.
I think you're probably doing just fine.