I'm going to throw in my 2 cents. It's not necessarily the Apple suggested method or agreed upon by everyone. However, I've been using multiple Apple devices this way for years and it would alleviate a lot of the problems you're bringing up. Unfortunately, from your scenario, this only helps on the recipient's end. This would be what your daughter could do. You as a sender still never know which or how many devices your message is going to so the onus is on the recipient. This could mean it's still possible have an awkward situation, but at least it may help.
For my wife and kids I manage 4 iPads, 3 iPhones, 2 MacBooks, and 1 iMac. All use one single Apple ID for the app store and iTunes/Apple Music. There really aren't any complications there. Then, they all share one single Apple ID, with an upgraded iCloud storage size, for iCloud. The tricky part is that they also share one single Apple ID for iMessage and FaceTime...kind of. For years now, Apple has supported aliases and that's how I manage to have a shared Apple ID where messages go to the correct place. I have no way of knowing how long they will in the future.
With that second Apple ID for iMessage and Facetime, it is the same Apple ID login information on each device. However, I then have different aliases for each device. If you didn't know about this feature or have never used it, sign in to appleid.apple.com then where it says "Reachable At" click edit. From there you can add aliases. I have around 9 and I've never seen a limit. In my uses the aliases are all separate gmail addresses. You could possibly use phone numbers, but I'm not certain and have never tried or seen if that's supported. So in my scenario (using fake example info) I login with "mainappleidaticlouddotcom" and then under that have "myphonealiasatgmaildotcom", "myipadaliasatgmaildotcom", "wifephonealiasatgmaildotcom", "daughtersipadaliasatgmaildotcom", and so on. My only caveat there is that you can't use an email that's ever been associated with an Apple ID on its own; meaning, you can't merge an existing Apple ID into the aliases, it has to be an email that's never been associated with one before.
That's on the Apple ID setup side. Then on the device side I'll just take my phone and my daughter's iPad. In iMessage, we both login with "mainappleidaticlouddotcom" then in the iMessage settings, where it says send and receive, all of the aliases are listed. I uncheck any that don't apply to that device and check the specific one. On my phone it has my phone number and "myphonealiasatgmaildotcom" with check marks by them. On my daughter's iPad it has just "daughtersipadaliasatgmaildotcom" checked. If you get the setup I'm describing, the other issue is that there has to be complete trust involved. I would never do this with anyone except my wife and kids. My daughter could very easily go into the settings, hit the check mark by another alias, and receive all of the messages intended for that device. I don't know if in later years I may worry about that more or ditch my setup all together, but as I have younger children and nothing to hide from my wife, everyone has mutual understanding of the way it works and doesn't do that. Settings go through the same routine for FaceTime.
Is this for everybody? No, definitely not. Will people tell me that I'm setting myself up for problems. Sure, and that's fine. I've done this for about 6ish years successfully. The only time I had an issue was when I first posted a message on this board and followed the thread. In one update a few months back, things started getting crossed and duplicated. I thought my system was done for, but simply signing out and back into all of the Apple ID's and rechecking the correct device's aliases had it all back to normal.
I'm not saying this makes it so that no-one can ever have the problem of messages going to the wrong recipient, but if you think the process through it is a viable solution for parents, kids, and spouses sharing an Apple ID without overlap as long as everybody knows and understands how it works.