The counterargument I heard recently is that what if doing something with your body ends up causing harm to others. E.g. you suddenly lose the ability to drive coherently. I agree everyone should do whatever they want, but if you drive drunk you're guilty because you should've known better, it's impossible to get a driver's license and not know you're not allowed to drive drunk. But if you do something experimental and are not aware you are no longer capable of driving, are you really at fault? And even if yes, is it that satisfying someone goes to jail considering maybe it would be better if a family of four in the other car is still alive.
Real life is more complicated.
We're not talking about a world that only has one law "you can do what you like with your own body".
Other laws still exist too.
Owning pillows is legal. Killing people is not legal. Just because owning a pillow is legal doesn't mean you can smother someone to death with it.
I would hope that someone diagnosed with a mental disorder such as Alzheimers would lose their drivers license (not sure if this is the case), but if they were subsequently cured and passed a new driving test, then would you have a problem with that?