"Give someone a ride, let them borrow your car, let them stay over at your house while they're on vacatin, have a one night stand with them. Nobody thinks we need government regulations for this stuff. What is it about commerce that scares us so much?"
The things you described are usually just one off things, that a friend will occasionally do for another friend. Once you commercialize it, then it starts getting abused. Take AirBnB: You now have a lot of buildings becoming unofficial hotels. Not only are they driving out regular, long term tenants, but the people who are there did not sign up to live near a hotel.