I have loved others who felt a liberation at the death of one or both parents, Christine. It's nothing like what I've know, but I've seen it up close. It sounds like your father died "too young" for you, whatever his age was. I hear you. If my father died now, I would feel a gaping hole. His mother lived till 99, and her last three years were more existence than living, and her death felt like a relief for her and for my parents.
The picture of your daughter content on your father's lap is lovely. Thank you for sharing that, too.