I always think the "Disney with teens" threads are interesting, and agree entirely with those who say that it depends on the teens. Our teen boys are ages 15 and 16 (and then we also have a younger son) and they are different from many of those I've seen described on these threads.
Our teens aren't really interested in going off on their own. We've offered for them to do stuff on their own, and they aren't shy or clingy, but they always choose to stick with us. Same on
DCL. The there are a few exceptions, like the day I ran the marathon needed some rest and my husband watched a playoff game in the club lounge. Our teens took their little brother to MK for a few hours. Also, when my husband arrived later than the rest of us and went to the runDisney expo to get his stuff, we didn't want the kids to have to go back to the expo again, so they went to DHS and Epcot for a few hours. And then usually once per trip, my husband and I grab a drink in the lounge - but that's our choice, not theirs! And they are free to go do something during that time, but they often watch a movie in the room or shop at the resort.
Also, our kids have been going to Disney since they were tiny, so they know the value of rope drop. FP+ does make it easier to sleep in a little, but they usually want to get to rope drop anyway - it's just less crowded and more fun.
Other differences: our teens are into silly, fun stuff generally. So we still do a couple character meals, they still think Hoop Dee Doo is fun and they won't shy away from a good character photo. They wear ear hats and carry their stuff in silly string bags. They like fun custom order cakes. They appreciate good theming in resorts and restaurants and since we travel to non-Disney locations frequently, they tend to prefer enjoying all the fun themed stuff at Disney while we're there. They dress in costume (including full princess dresses) for runDisney races and get up super early for those.
In thinking about what has changed, I guess their tastes are getting increasingly expensive! Not just more food, but better quality food is important to them. So we're able to enjoy more signatures and choose meals for the food and not just the experience. Also, they love an "eat around the World" day at Epcot where we stop in each country for a snack and share it. They also love Food and Wine (minus the wine) and Flower and Garden for the food kiosks. And finally, they appreciate the overall environment and atmosphere at Disney - not just the parks. So that's fun to see.
So in the end, I entirely agree that it depends on the teen! Our kids have opinions and are happy to share them, so if OP's teens are interested in participating in the planning, that will help a ton!