My children are adventurous and unless something is dangerous or unsafe for themselves or others, I don't see the problem. Increasingly I find myself being scowled at by other parents whose DC want to copy mine as if I should stop mine to help them out. I've had passive agressive comments, too. As far as I'm concerned, it's up to them to enforce their rules on their children - not me.
Some examples to give you an idea of the contexts of these situations:
Splashing in puddles
Climbing trees
Standing up on the swing
Climbing the slide (as long as no one else is waiting to go down)
Painting their hands and feet at toddler group
Rolling down hills
AIBU to continue to let my children do what I'm fine with them doing and ignore disapproving outsiders who expect me to stop them so their children won't do the same?