Edit to add my opinion so I’m not just replying “I agree” to 90% of comments. I think it should be legal, properly regulated, taxed and viewed as a profession. I haven’t personally engaged in it but I have no moral objection to it. I do hate the common sentiment that it was the individual’s “only option” though.
And honestly a lot of these would probably need to be tested top see what works best, but the core point is that in an ideal world there would be an ongoing effort to make sure the worker is given as much power over the situation as possible.