My kids are well liked by their peers. They're socially adept and smart. But when given the choice of chasing a kid up a hill, or sitting with my wife and me on a park bench, they choose us. Even when their friends are begging them to play. They might occasionally run off with another kid for a few minutes, but they're not gone for long.
The goals of a free-range parent are the same as those of most parents: to raise their kids to cope successfully with life, and if possible, be outrageously happy. Humans have been debating how to get your kid to be a successful adult since we began to speak. For free-range parents, the answer is autonomy and responsibility -- early and often.