Freedom is of one piece. It is contextually absolute. As long as that condition is met, one is free. In the case of traffic lights, the above definition of freedom explains why such signals and the police power behind them do not imply a limiting of one's freedom. It forms the essence of proper social relationships, the foundation of a benevolent society, the only way to establish the foundations of morality.
Voluntary action leads to personal confidence, individual well-being, and tolerance of differences.
Forced action leads to personal doubt, individual degradation, and exacerbation of resentment, envy, and hatred. Freedom in a social context is all or nothing. One is either free or one is not. What is possible to discuss in terms of degree is slavery . The chains around our necks may be invisible, they may vary in length, they may be light or heavy, but once a chain is slipped around your throat, freedom vanishes.