You can't ever really tell if someone is a true friend or not just by them saying what things you should make your own decisions on and what things that you should have your parents help you out with. Those are all advice and suggestions, doesn't mean anything too deep about the friendship except that she's willing to help you. If you really want to know, you've got to focus on her actions too.
But from what I can tell, your friend doesn't mean to harm you. She does have a point that there are some decisions you've got to make on your own and some that you've got to have your parents' help on. Although if she's talking about decisions concerning the law, then maybe she's not such a good friend after all. But if they're just decisions about small things like what classes to take, hanging out friends, deciding what to buy, etc., then she's just being reasonable. It doesn't make her the greatest friend in the world, but you know right off that she's not a bad friend. It only disproves that she isn't a bad person (unless it's about the law), but doesn't prove anything.