I mentioned TCS earlier, but not so overtly
It's not about something that 'works' hopeforthebest, it's about a philosophy of life. Why isn't 'child bathes whenever he wants to' a solution? What actually would happen to a child that didn't bathe very often? They'd get very grubby.
TCS isn't about letting children do whatever they want, it's about taking them as seriously as you would like to be taken yourself and taking yourself that seriously too. You don't self-sacrifice, but you do try to remain open minded to the idea that you may be wrong, and that there is an answer out there somewhere that means no one is unhappy or compromising. If you haven't found it, it's because you couldn't, not because it doesn't exist.
And you're right about us knowing more than the children, that's why our job is giving children the benefit of our experience and knowledge. Children aren't inherently irrational - they do know when something really is an important issue (although IME, sometimes children with SN don't pick up on these things so well).
My children, for example, will listen to me when I say that if they run in the road they may get hit by a car and seriously hurt, like the coke can we saw being run over recently, or the roadkill you see on the verge sometimes - and they've 'got' this very, very young - and before that age they've had their buggy or sling made a very pleasant place to be so they've preferred to be in that safer place for road-side journeys.
On the other hand, they don't do what I ask when I'm asking them to do something not so important, like getting dressed in the morning. Although they will get dressed as they walk out the door, so they know when it is a bit more important (socially so!).