Letting kids learn to take responsibility does not extend IMO to allowing them to make life changing bad choices. When my younger son did start making really bad choices that could have indeed led to jail amongst other things, his father and I stepped in and put him in a wilderness rehab school for a year. That took care of that.
But since most kids do not go that route. For my other son the right thing to was to give them as much responsibility as possible.
Making small bad choices with small negative consequences allows them to understand how their choices affect their lives and prepares them to be better prepared to make the major decisions. Kids don't learn personal responsibility when deprived of being personally responsible IMO. Way too many troubled adults never learned that particular lesson.