The truth is that freedom comes at a cost and I believe the example you gave about your kids is one of the best example, freedom without guiding rule will only lead to chaos and for the lady who got raped, I wouldn't put all the blame on her because if her parent had given her a little freedom with guiding light, I don't think things will turn out like that.
Parent that are over strict and restrict the freedom of their children always end up ruining that child life.
You really balanced it. Thanks for this wonderful input.