One of the things that characterizes the BSDs is that they never had AT&T System 5 init, nor the van Smoorenburg clone thereof for Minix+Linux. It's one of the things that the BSD side of the universe resisted from the AT&T side of the universe back in the 1980s. FreeBSD has BSD init, a rather different beast to AT&T init, and Mewburn rc, which is very different to van Smoorenburg rc (although the post-2014 revisions on Debian make van Smoorenburg rc come closer) on Linux.
And it's equally misleading to talk about liking your dæmons restarting themselves, because that's untrue too. systemd is the very third party monitor, externally monitoring and restarting the dæmon programs so that they do not have to restart themselves, that you claim to want to do without.