From my experience, there is no "One size fits all" approach to bringing up kids... Among my kids, there is one whom I never, ever applied corporal punishment!
What I did was for sensitive kids, be less strict, use verbal more... As for tough kids, be more strict, sometimes kiboko is necessary. So, for both types, boundaries are relaxed as expectations are achieved and boundaries are contracted when expectations are not met/upheld. And if they persist, then either timeout for the sensitive one and kiboko for the rough one...
In the meantime, all the time, lead by example. Be a partner to the kid. So that you help them find safe ways to explore what draws them, because we want them to learn by making mistakes too.