If by without restraint you mean without consequences to your use of freewill, then no, there will always be consequences to your choices or lack of choices.
If your question was another way of saying "can't we all just get along?" then my answer is still no, because God designed us to have opposites, to have people in the world who feel "rightness" to be the opposite to what you consider "rightness" to be.
The trick is to have mutual friends that act like insulation. Pretend your cold water and you hate hot water, but you both don't mind tepid water too much, so long as there is enough tepid water to go around, all is good. Problems arise when there isn't any tepid water, or not enough tepid water, and all that is left is cold and hot water side by side.