Competitive companies will rarely make decisions that lower worker productivity. So the case of "freedom to be stupid" tends to lead to a race to the bottom on safety standards, as companies cut safety to increase productivity - and workers get dragged along for the ride.
I wonder how the perception of these laws would change under a more unionized workforce.
As an example, professional sports players unions are fairly powerful and the risk of injury is pretty high, much higher than I'd expect to be acceptable under OSHA, and people seem pretty comfortable with it as long as the players are informed of the risk (CTE disclaimer).
Look up the Underwriters Laboratory for a real life example of this happening without government, it’s successes are all around us.
For insurance carried by or provided the employer, any event that happens after employment ends is an externality and not covered. Extreme cases involving death will be underpriced as the employee won't have use for the money if they're dead.
In my own finances I carry a life insurance policy less than 1/10th of my nominal future earnings.
Consumer protection is similar. I don’t need the government to tell me that my Honda airbag may explode in my face, as an independent agent, I have the ability to go to arbitration with my concerns without some bureaucrats getting in the middle. If I choose, I can ignore the problem — that’s what freedom is all about!