I knew someone who worked with designing playgrounds here in Norway, and his focus was on this. He called it subjective safety vs objective safety.
The idea was to maximize objective safety while allowing the kids a lot of room to explore the subjective safety.
This could be say a climbing wall which was tall enough to be challenging, but ensuring the equipment and ground was designed and maintained[1] such that there was no risk of permanent injury should a kid fall from the top.
As most kids love a challenge this induced them to play freely in a natural way, which lead to other benefits including social aspects like reduction of bullying.
[1]: https://www.bsigroup.com/contentassets/fd0e8cd7dd174774890cd...