If/when we do eventually go down that road, I certainly hope people are well educated in the harms of these drugs, and that they are in a position mentally/physically/socially to not have to turn to such things...
I would like to see some kind of hurdle erected to give kids (and young adults) a serious educational blast before selling them their first dose, but otherwise I think it has to be legal if you're interested in harm-minimization.
The missing element with drug legalization is the preventative aspect. It simply doesn't happen in large enough numbers using the exposure/education method.
However, shame based propaganda has been showing significantly positive(?) results with cigarettes. Most people I've e countered from younger generations cannot fathom smoking a cigarette. Vaping, sure, but stinky cigarette? Ewwww, gross.
Meth and heroin legalization and "it's all good if you're responsible" mentality isn't going to work.
You're right though, often times the only solid education is experience.