I came across this wiki page called Freedom (philosophy) which discusses various freedom philosophy's including a brief mention of Steiner.

Especially spiritually-oriented philosophers have considered freedom to be a positive achievement of human will rather than an inherent state granted at birth. Rudolf Steiner developed a philosophy of freedom based upon the development of situationally-sensitive ethical intuitions: "acting in freedom is acting out of a pure love of the deed as one intuits the moral concept implicit in the deed".[2]
[2] Robert McDermott, The Essential Steiner, ISBN 00606553450, p. 43

The article says Steiner's freedom philosophy is based upon "situational ethics" so I looked up situational ethics and found this:

Situational Ethics, according to Fletcher's model, states that decision-making should be based upon the circumstances of a particular situation, and not upon fixed Law. The only absolute is Love. Love should be the motive behind every decision. As long as Love is your intention, the end justifies the means. Justice is not in the letter of the Law, it is in the distribution of Love. Fletcher founded his model upon a statement found in the New Testament of the Bible that reads, "God is Love" (I John 4:8).

Is Steiner's freedom philosophy based upon the circumstances of a particular situation with love being the motive? The interesting thing about Steiner's way is that it is very difficult to describe it in a few sentences. Many views can be true but one particular view may be misunderstood without knowing the many other perspectives. If an action is based upon the particular circumstances then it can be considered determined by the circumstances and thus not free. Steiner raises this issue in chapter 9. Studying this paragraph is a good thought-training work out. I will be doing a video on this paragraph in a few weeks. Ha, I wonder what I will come up with?

POF 9-6 [27] A superficial judgment might raise the following objection to these arguments: How can an action be individually made to fit the special case and the special situation, and yet at the same time be determined by intuition in a purely ideal way? This objection rests upon a confusion of the moral motive with the perceptible content of an action. The latter may be a motive, and actually is one in the case of the progress of civilization, or when we act from egoism, and so forth, but in an action based on pure moral intuition it is not the motive. Of course, my "I" takes notice of these perceptual contents, but it does not allow itself to be determined by them. The content is used only to construct a cognitive concept, but the corresponding moral concept is not derived by the "I" from the object. The cognitive concept of a given situation facing me is at the same time a moral concept only if I take the standpoint of a particular moral principle. If I were to base my conduct only on the general principle of the development of civilization, then my way through life would be tied down to a fixed route. From every occurrence which I perceive and which concerns me, there springs at the same time a moral duty: namely, to do my little bit towards seeing that this occurrence is made to serve the development of civilization. In addition to the concept which reveals to me the connections of events or objects according to the laws of nature, there is also a moral label attached to them which for me, as a moral person, gives ethical directions as to how I have to conduct myself. Such a moral label is justified on its own ground; at a higher level it coincides with the idea which reveals itself to me when I am faced with the concrete instance.

Another issue is love as a motive. Steiner's philosophy includes love for the deed but the action carried out in love could be an evil force in the world doing great harm to others if it is not integrated properly into the world.

POF 9-8 I do not work out mentally whether my action is good or bad; I carry it out because I love it. My action will be "good" if my intuition, steeped in love, finds its right place within the intuitively experienceable world continuum; it will be "bad" if this is not the case.