Complex sentence: They feel that their children benefit from coming in contact with people of diverse ages and backgrounds in a variety of contexts, feel that their children benefit from having some ability to influence what people they encounter, and in what contexts they encounter them.
Split into simpler sentences: They feel that their children benefit from coming in contact with people of diverse ages and backgrounds in a variety of contexts. They also feel that their children benefit from having some ability to influence what people they encounter, and in what contexts they encounter them.