I disagree that they impinge on human freedom, at least I don't think they do compared to capitalist economy. I see no reason why they should be undemocratic. And you'll find nobody in favour of a 5 year plan as the USSR had; there have been massive advances in economic planning methods, as elaborated by Cockshott et al.
I love the irony of saying it is "inefficient" especially when we compare it to how currently under capitalism firms compete by doing the same research, repeating the same mistakes, often extremely inefficiently, in the name of profit. This is one of the most inefficient things I have heard of.
The USSR planning model isn't a good alternative. But I think that some economic planning model, whatever it may be, should not be ruled out, especially as it can feature as part of lower-stage Communism.