The way you have worded that, the answer has to be no.

Think of it this way - there is always trust involved. With the purest form of self custody it’s just that you are trusting yourself - not to lose it.

There is always going to be a trade off between risk of loss and risk of theft. If your risk of loss becomes too high from self custody, you’re better off trusting another party, which then unfortunately increases risk of theft.

Saylor has spoken well on this - in terms of thinking through an individual, a family, a community, a company, etc etc, and what might be right for each of them. There are always trade offs.