As someone who recently got too wrapped up in “just doing things” at the expense of a friend whose permission I did not ask, this post strongly resonates with me right now. Seems like a good word of caution.
On the other hand, things will probably be fine in the long term and as @Bastiaan said, I probably have a more accurate sense of where the boundaries are than I would have if I just avoided doing things. So it’s maybe a grey area. But you’ll probably always be better off asking permission from the people you might be affecting, as long as you care about their opinion and they are in good faith.
Sometimes you are a bad friend in ways that you don’t realise; everyone has their blind spots. Telling people before taking actions that affect them can let you adjust your expectations before doing something you don’t realise is harmful.