Through their 17th birthday? You bet your ass I do.
Don't get me wrong I remember what I was like at those ages. But the experiences and pain I had during those years when I had a much larger safety net have paid back many times over in avoiding or safely navigating those same types of experiences without nearly as much support.
I was not always safe during those years. But without those experiences I would have made much more irreversible mistakes.
Eventually children have to grow up, and part of growing up is being responsible for your own health and safety. Robbing children of practice in a safer environment is not keeping them safe, even if it feels like it in the moment.