Yes this exactly. If you need to do this you have hired the wrong people and/or the mission is not clear.
I decided I wasn’t going to be a prison warden early on in my career after trying to be one for the company.
We got so much further as a team when I use to make sure they had their birthday cakes and whatever other supplies or tools and got the hell out of their way.
Not a lot of people can trust others this much. It also takes initiative to weed out those that are not going to fit into the team quickly. 1 bad Apple can make the bunch go bad quickly.