You sense correctly but the word "tyranny" in that context should be understood as something like "having degrees of control". No one denies better parts of human nature and one could have all of those living in isolation in some ideal make-believe environment. But people live in groups and when there's a group there's tension. Just take your ordinary couple.

I'd very much appreciate the "many examples of people living in freedom" and how such freedom is manifested in combination with all the practical requirements of existence.