If you go all the way and the FDA was replaced with companies who offered to test and "approve" drugs for profit then I think it is difficult to establish a full trust relationship with those entities.
You mention the FDA becoming advisory; that could become a good compromise. However there is a danger that people would simply ignore the dangers and, at some point in the future, suddenly realise they had done something terrible to themselves :D
A balance is crucial; I think we actually have it in the drugs industry, but perhaps there is room to make modify as well...