Dealing with disrespect from my teenage daughter

My 15 year old has been talking back and rolling her eyes when I give her direction. I grew up where you didn't speak to your parents like that, period. I want to raise her right but I also don't want to be that tyrant dad. How do you guys handle it when your kids test your authority? I feel like respect has to be earned but also commanded in a household. Looking for thoughts from fathers who've navigated this without losing their relationship with their kids.