I had a dear friend who basically let her kid do whatever she wanted, eg, let her put her hands in the bulk bins at the grocery store. Once we went to a museum and she climbed on a work of art; when I gave her a look, my friend went over to her daughter and said "no shame." She's all grown up now and runs her own business, so it doesn't seem to have hurt her to be raised in such a laissez-faire way, but I stopped going to public places with them.
Oh, just remembered -at my wedding my friend came up to me and told me her daughter had just about put her hand right on the wedding cake. At least she stopped her from