I'm confused as to what you're teaching a child that you're either directly holding on to or otherwise confining to a stroller that's any different from what someone with a foot of tether between themselves and their child are teaching.
I'm 6' tall. My 2yo is just over 3'. He's too heavy for me to carry for any useful length of time. Exactly what moral high ground, or additional "teaching" am I gaining by having to walk stooped over while the poor child holds his arm straight in the air for a hours at a time, rather than having him walk at my side with both of our arms and backs in a comfortable position?
And exactly what "teaching" would I be offering by forcing the child to spend a significant portion of his day strapped immobile in his stroller, rather than walking comfortably at my side?
I would suggest that a way to move past a feeling of "too much babying . . . in the world" would be to allow your child out of his stroller/off your shoulders and allow him to WALK like a person. Once you do that, there's really only a difference of comfortable posture between hand and harness holding.
On the subject of "not enough teaching," I'm still unclear as to what is being taught when the child is still either actively physically restrained, or passively harnessed in a seated position in a stroller . . .