Absolutely not true that is some toxic thought to have.

Do kids not ride bikes without their parents? Nobody drives without their parents? Nobody does anything they’re taught without the ones who taught them?

What actually happens is they learn they can just leave, that pressure is invisible and they grow the muscles and knowledge of what it looks like to slip out of a situation. The next time they’re in it, they will have experience on how it felt to leave the first time. It’s reinforcement.