You parsed it wrong. I meant to say that consenting adults freely entering (or not) into agreements with other consenting adults is a (not the) hallmark of a free society.
Why do you think that consenting adults freely entering into contracts are analogous to peasants and lords?
If someone enters into an unenforceable agreement, they should be freed of it speedily and inexpensively. Maybe the terms of the agreement are such that its' unenforceability is non-obvious; but it is ultimately the one bringing suit who should bear the cost of wasting everyone's time in that case.
Unfortunately, the Democratic party in the US has fought tooth-and-nail against "loser pays" tort reform for decades.