If a learner does not understand a religious matter, avoiding a respectful question purely from embarrassment is not beneficial modesty. By contrast, feeling restrained from an act that offends Allah or harms another person is a healthy moral response.
Example 1: Politely asking a teacher about purification is appropriate.
Example 2: Refraining from mocking someone vulnerable because of conscience shows moral strength.
فَاصْنَعْ مَا شِئْتَ must not be isolated from its warning context and read as unrestricted moral permission.