To answer your question directly I don't have strong feelings about it. I would prefer if they were freely accessible, other than maybe things like antibiotics that have clear externalities.

I'm okay with insurance companies saying they won't pay for them unless a doctor writes a script, but to gate keep relatively harmless drugs the way we do isn't my favorite policy. There are many times I would love to get a drug but don't want to talk to a doctor about it. This is one of the reasons companies like KHealth exist - they're just rent seeking on a silly system. You can get anything you want, you just have to jump through hoops, but all those hoops just make doctors richer and health care cost more.