There could be a varying mixture of rules of conduct for different public places which results in at least one easily accessible place to satisfy any particular type of mixture of desired public behavior. For example, nudists who like to swill beer, smoke stogies, curse, and listen to loud rock bands, should have a public place to go to that suits their desires, and people who are offended by such behavior would know to avoid that place. Under such a system there is total freedom, except for the harm to life prohibition, and except for some restrictions on where some conduct may be engaged in. Actually, even a harm to life desire can be fulfilled, either through virtual reality, or with lifelike robotic forms. In the future all needs and desires will be fulfilled, subject to some restrictions on where it may be done.
True freedom is the ability for each person to live as they desire.
This is the ultimate human dream, and therefore should be Humanity's consummate goal. Such a place is commonly defined as Paradise or Utopia. We could accelerate the pace at which we reach this better world if we made the same a common goal, and devoted some more resources toward finding the knowledge to make it a reality for all.