Commit 460b4b550dc9 ("Implement unprivileged chroot") added support for chroot by unprivileged users, with sysctl security.bsd.unprivileged_chroot to enable it.
We took a conservative path at introduction, leaving it disabled by default, but are ready to enable it now.
(See D30939, D30940, D30130, https://bugs.freebsd.org/121073 for more context.)