Micromanage: specifically related to parenting

Helicopter parenting noun, Informal.

1. a style of child rearing in which an overprotective mother or father discourages a child's independence by being too involved in the child's life.

Source: Dictionary.com

Though this is not a verb, it is a noun that encapsulates the exact meaning and context of the OP question.

Provided by @1006a

Hover over

2. Fig. [for someone] to stay close to someone or something, waiting, ready to advise or interfere.

Source: Free Dictionary.com

Smother (verb), or, less pejoratively, overprotective (adj). Smother, from Meriam-Webster

to stop or prevent the growth or activity of •smother a child with too much care.

In the OP's example:

Sara smothers her children; she denies them any autonomy in making personal choices and insists on knowing every minute detail about how they spend their time.

Sara is a smothering mother, or, more charitably, an overprotective mother. See familyeducation, Understanding the Smothering Mother

Everyone has a name for these moms. However, the one that is universally understood is "overprotective".

The Cambridge English Dictionary defines overprotective as:

wishing to protect someone, especially a child, too much:

The children of overprotective parents often do not develop the skills they need to take care of themselves when they leave home.

Sara is a controlling parent (or a monster parent; mildly derogatory term).

Sara controls her children; she denies them any autonomy..

Or, for more emphasis, as suggested by Roger Sinasohn

Sara completely controls her children...

Control -- ODO

(verb) 1.1 Maintain influence or authority over

One possibility is dominates

One of the word "dominate"'s positives is that it can substitute for 'micromanage' in a wider set of circumstances than with children only. It does however have more emphasis on the 'complete control' aspect of 'micromanage' than the delving deep into small details aspect of 'micromanage'.

Sara _dominates her children; she denies them any autonomy in making personal choices and insists on knowing every minute detail about how they spend their time.

The word has the flavor of overwhelming the influences of those dominated and assuming that role by nature.

dominate at Merriam-Webster online

1 : rule, control

2 : to exert the supreme determining or guiding influence on