Upvote:4
The automatic bans start at 180 days of unlawful presence, and you only have two weeks, so no automatic ban. Your daughter had no unlawful presence at all because of her age. See Unlawful Presence and Bars to Admissibility.
However, a record of overstay by itself creates a suspicion that you may overstay in the future. That is probably why your daughter was questioned. Be prepared to be questioned any time you try to visit the US, and bring evidence, in your carry-on, that you are going to leave the US on time.
Regardless of how long ago it was, answer "yes" to "Have you overstayed?". In general, every question must be taken literally and answered as asked. If they meant "Have you overstayed in the last 10 years?" they would ask that.
As @phoog pointed out in a comment, your ESTA application will probably be denied, but it is worth trying given the low cost of a denied application, currently $4. If your overstay had been on the Visa Waiver Program, rather than an actual visa, you would be barred from using the VWP.
If your ESTA application is denied, you can apply for a Visitor Visa. Again, you will need the best evidence you can assemble that you will leave the US on time. The very short duration of the overstay and the time since then are both in your favor.