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So in your view, preventing people from selling themselves into slavery is denying them agency?

Technically that is true. People do have an inherent right to make bad decisions. That, (ironically in this example) is what freedom means.

"Agency" approaches meaninglessness when you can't understand what you're agreeing to, can't afford a lawyer to interpret it for you, and can't get access to the courts later because of an arbitration clause.

If I am kidnapped by a serial killer and given the choice between death by machete and death by pistol, it counts as freedom?

If so, your definition of freedom is terrible.

And?

That concern is weighed against other considerations, including whether or not to allow society to coerce individuals into degrading situations.

Law -- like any other human construction -- is about trade-offs.

Have you ever said something before similar to,"what if the child consents?"