Personal freedom always only really was available for criminals and vagabonds. Maybe royalty and stuff as well but I think they were more or less trapped in the system as well with what they were allowed to do or how to behave.

My point is for most of human history survival and safety naturally was way more important than personal freedom, which actually lead to the development of all the systems we have in place now and which only now made it possible to experience this personal freedom to begin with which of course you lose when another person is completely dependent of you.

So having personal freedom really is something special and luxurious and not the default state which you have to give up for kids. It's more like you have to give up having kids to have the possibility of personal freedom (but even then most people don't have or had it).