Perhaps if I give some examples.
If my DS wants to go out on a cold day without a jacket, I think he's daft. I'll point out the likely impact. I'll say I'd prefer him to wear one, but if he insists and we are with him I'll let him go out. I'll bring jaket gloves, hat and scarf with me because I'll know he'll get cold, and regret his decision, but he has to learn from his mistakes. I most definitely will not force him into them.
If he's got a new toy that he likes, and he's doing no harm with it, I wont take it off him just so I can inspect it. I might ask to look at it, and he's the sort of child who will probably let me, but I wont just take it.
But its the minor things that really annoy me. Talking over him when he's trying to express himself, picking him up when he doesn't want to be held, reading something for him when he's capable of read it for himself (if a little slowly), or ignoring him when he says he wants to do something for himself. Yes, if we're in a rush we do have to do things for him because he takes forever to do some things, and if he turns to an adult for support and help then step in, but where possible I'd like to give him the freedom he deserves.
For the most part we've found that even with a five year old if you give them the freedom to make their own decisions, they do the right thing... The exception to this is TV (he'd watch TV all day long), but even hear you can let them decide - so long as you set limits. So for example offering the choice of a program now, or a program after diner.
As for food, we feed him what we're eating, but I would never make him eat. If he chooses not to eat that's his choice (and he deals with the consequences). I try to persuade him to try everything, even if he then decides to eat no more having tried it, but he's entitled to try and eat what he wants. We do however insist that unless he eats well we don't serve desert.
I've been trying to get my DFIL and DMIL to understand (and to a lesser extent my parents), but they just don't get the principle. I seem to be able to get them to understand that a particular incident was wrong, but the ethos of treat him with respect and him be himself just doesn't seem to get through.