Freedom is emotional maturity and emotional maturity is freedom.
How do we learn to be emotionally mature? by taking responsibility for our actions. By acknowledging our mistakes. When we see our self truly and love ourselves unconditionally we have no need of another. All choices are made freely without the constraint that need can wrap us in. When we do not need the constant presence of someone to give us an identity, we are truly free.
Emotional maturity allows us to forgive ourselves and others for we are all the same, only the mistakes are different. Always help a fellow traveller if you can but not in a way which impedes your journey.
Each of us has to make their own journey. If we are fortunate we have a companion for some of the way. When we no longer need a mirror to know who we are we are truly free.