Actually, you are allowed to protest on public property within earshot of private homes.
You cannot enter a private home because someone else's property and liberty trump your right to free speech on their property. In so far as their property includes the sidewalk (typically). You have every right to speak there. You can even protest there if you want.
> No one has an unrestricted right to go out and literally speak,
Yes, you do have every right to go out on public property and literally speak. That is literally the right you have that many have died for and the ACLU and other orgs have fought for. Try it right now! Have fun. There is literally no restriction as long as you are not physically harassing or verbally abusing someone, and you are not physically preventing anyone from passing you.