This study examined the reciprocal relations among maternal sensitivity, paternal sensitivity, and children's social adjustment from 54 months of age to 5th grade. Using a subsample from the National Institute of Child Health and Development Study of Early Child Care and Youth Development (N = 829), we employed an autoregressive latent trajectory model with structured residuals (ALT-SR) to unpack the trait and state aspects in the relations between parental sensitivity and children's social adjustment. After taking into account trait factors, among all the significant autoregressive and cross-lagged paths originally found in the autoregressive cross-lagged panel models, less than one third of them remained significant in the ALT-SR model. More specifically, in the ALT-SR model, more parent-driven effects were observed for fathers and child-driven effects were detected between children's social skills and fathers' sensitivity. Taken together, it appears that parents' central tendency to be sensitive in the long term is a stable trait, and experiences less state-level fluctuations, and these appear to matter more for children's general tendency to show well adjustment as opposed to change over time.