I definitely let my kid do things other parents absolutely put their foot down about - like allowing him to ride his bike to school 1 1/2 miles by the end of first grade. I’m sure there are many more things but can’t think of any off the top of my head.
I never called parents of kids where parties were because I knew there wouid be no parent home. All I did was tell my kid to call us no matter what , no questions asked, before getting in car with someone who had been drinking.
I also sent him to overnight camp for seven weeks every summer for 8 years starting when he was six. This likely saved me from saying no to lots of stupid things kids want to do.