With her Aunt

During her stay in Tokyo, Misaki lives in her Aunt Shouko's home. Asami Shouko is a fun-loving journalist who welcomes her with open arms. She is kind of overwhelmed that a kid like Misaki is polite and a wonderful cook. One time, she asks her if she would be her bride, much to Misaki's embarrassment. What she doesn't know is that her Aunt is in contact with her Mother, whom she hasn't seen in seven long years and that Shouko is the one who insists that the Mother should make her presence known to Misaki as soon as possible. While the real mother is hesitant to reveal herself, Shouko acts as a guardian to Misaki.

With her Grandparents

Misaki is well-loved by her grandparents. After all, they're the ones who took care of her when her Mother had to depart to the city. And the feeling is mutual. In fact, she never wanted to learn how to ride a bike because they were worried for her safety. (She doesn't hold this against them, though.) There's not really much interaction between the two that are shown... Only short flashbacks of her childhood and what she has revealed to Oujirou on their date.

With her Parents

Misaki's Dad isn't really mentioned in the anime so I can't really give you info on how they got along. As for her Mom, well, she hasn't seen her since she was a kindergartner. There's a reason why Shuuko had to leave her and no, it wasn't because she was just a bad parent. You see, Shuuko suffered from Multiple Sclerosis (or a disease similar to that) so she left her chibi Misaki in the care of her parents. She then fled to Tokyo, hoping to find a cure. That was where she met Ichiro and with her support, Angelic Layer became a big hit.

But Misaki, of course, doesn't know that. She grows up only thinking that her Mom is in the city and that she's very busy. Here's a snippet of conversation between Misaki and Oujirou on their date:

M: I want to see her... She is my mother, after all
O: Then...
M: But that's okay. I don't want to trouble Mom.

As you can see, she loves her Mother very much, but she doesn't want to disturb whatever it is she's doing. But when Shuuko finally reveals herself at the end of episode 25, Misaki is shocked. She has never imagined that her Mom would be the Angelic Layer champion for three consecutive years let alone be an invalid. Overwhelmed by all of this, she runs away in order to clear her mind. Shuuko tries to find where she has gone. Ichiro tells her that he has a pretty good idea where she might have headed: the same spot where she first saw Athena (y'know, where the big outdoor tv is located.)

Meanwhile, Misaki is berating herself. She thinks that maybe she's been a bad daughter. She tells herself, "It was a lie. I'd been lying to myself... All Along I was lonely... I'm so scared to meet Mom. Inside me, it feels like there's a big lump... Mom, say that I'm awful! There was a big weight on my heart because I wasn't able to say those things for a long time. But I didn't realize that! No... I didn't want to realize that awful truth." So absorbed is she in self-pity that she doesn't hear Shuuko behind her. When she does, she does what any girl in her situation would have done: she cries (well, it's more of a wail, but who cares?)

Shuuko explains what she's been doing all these years. As for Misaki, she's finally happy that Shuuko is back in her life. After they finally cleared up any misunderstanding, they head back to the arena where their battle is to take place.

What's unique about these two is despite their relationship, they're not willing to go easy on each other. I mean, just because they're mother and daughter who have just been reunited doesn't mean they aren't going to do their best to beat each other's doll. In fact, in the final (championship) battle, Shuuko uses Athena's deadliest attack, Astral Emission, on Hikaru not once, but twice! The first time, Hikaru suffered a major damage. She doesn't get up until Misaki, Hatoko, and pretty much everyone in the audience encourage (beg?) her to do so. The second time is when Hikaru herself sprouts her own snow white, feathery wings. After a few moments of aerial combat, Athena unleashes an Astral Emission, but the other doll deflects it and eventually wins the match! Impressive, ne?

Anyway, after Misaki's decisive victory, she runs over to her Mom and hugs her. Shuuko eventually tells her that she loves her very much. A very heartwarming scene indeed!