You are sovereign in fact or you are not. You have liberty or freedom by permission. If you must ask permission you are a slave.
—“You’re going to have to define liberty and freedom very specifically on this one.”—Rik Storey
Historically
Freedom > completed service as a slave (mesopotamia), no longer a slave (europe), or never having been a slave(europe), exempt from arbitrary control, granted special privileges. (meaning: it is possible for one to NOT be free).
Liberty > permission to retain local law and custom, from liber, in european religions who looked after and freed slaves.
Those are the original meanings
Liberty by permission (group), Freedom by permission (self).