Try parenting with anarchist principles.
At some point you run into limits. The point is, what imposes those limits? Physics, gravity, society or yourself?
Ideally the limits you put on yourself should mean you never encounter (negatively or destructively) any of the other systems of limits. But, not all people are capable of always limiting or controlling themselves, and no...that's not the fault of their being "arbitrary restrictions" or "ludicrous laws" and it's not a "reaction against meaningless oppressive authority", it's just people are not perfect and not always good at acting in a way that doesn't put them up against the other sources of limits.
Even if someone has perfect self-control. Who says they have perfect knowledge of the limits, which if they were to cross them would bring about their destruction or detriment, in any given situation?
You should be the source of truth and guide for your life, but I don't think you can expect to know everything and avoid all risks if you only pay attention to what you think is OK and ignore signals from elsewhere. I think you need to balance it with acknowledging that other people and society has some fucking clue about that stuff as well. It's not perfect either, but you shouldn't not factor it into your decisions.
If anarchists were so clever at charting their own courses, how come they end up getting arrested for stupid shit? I suppose they're "not true anarchists".