Do You Want Your Child to Learn to Make Mistakes?

I would prefer a child to make mistakes without fear of being harshly punished for it. I want them to learn from their mistakes and be encouraged to make mistakes, rather than just walk away going, i don't know what i did wrong? Some of them are in their late teens, early twenties, and it's really hard for them to filter themselves so that what they say and do is ad for like, a six or seven year old. But they do it, and you dow the it's a lot of being constricted by rules, just like society, but also having the freedom to making all the mistakes they want. And try all the things they want without fear of getting shut down