I've found that boundaries have been entirely collaborative. His boundaries are 'good' in the sense that he consistently keeps to what we decided together. Touch was my decision, he has been flexible to my needs on out of session contact and I have always set the boundary with him that I don't want to hear about his life outside therapy. (He has said that if I were to ask him questions he would usually answer, but I choose not to ask).
He certainly never expected trust without earning it. It took me well over a year to trust him and I always told him that I didn't. He was fine with that.
Explaining the risks wasn't relevant to my therapy as I always knew therm all-too-well.
He never pushes me to expose myself (on the contrary he often says things like "you don't have to say anything you don't want to"). I don't find him voyeuristic at all and he doesn't give advice.
So while I think some of what you say may be true of unskilled therapists, or those of particular modalities, it's certainly not true across the board. And my autonomy is in the fact I was able to choose one who met my needs. I appreciate that's not an option for everyone, but I know from experience that with the right therapist, therapy is not only helpful, but life-changing.