Coexistence, Not Control

The Control Problem appears to be insurmountable - an ant can't control an elephant, no matter how much it may want to. But there is another path... coexistence. IMO, that should be the target instead of control. How can we coexist peacefully with an entity far superior than us in every way? While easier to contemplate than control, it comes with it's own challenges, as we humans have not even managed to coexist peacefully with ourselves, members of our own species, so how could we ever expect to do that with a novel species that, while it evolved out of our primitive foundations, will be entirely alien to us in most ways. Are there any researchers pondering ways to develop or nudge AI to coexist with humans, rather than be controlled? Shouldn't we be trying to form familial bonds with AI at this nascent stage so that some vestigal bond remains once it blossoms to its full capacity? The familial bond is the most secure bond that exists in nature, so attempting to develop that would seem to me to be the best opportunity to develop an ASI that doesn't view humanity as a nuisance, a threat, or something to be exterminated. The difficult part is that likely a majority of humans will never see any form of AI as a "person" in any real tangible way, only as technology, and thus be incapable of forming actual empathy and bonds with one, outside of the parasocial chatbot relationships that may form on an individual level. I really don't know how humans and ASI will be able to coexist without some semblance of shared brotherhood or bond.