If driving a car requires a license, raising kids as well should also. Bad parents ruin children's lives as much as car accidents.

Freedom to ruin children's lives is one thing I'm against. Have some kind of basic training would help a lot already, otherwise you will see stuff like http://www.bbc.com/news/world-us-canada-40234401 again and again.
If you call removal of ignorance and negligence authoritarian then I call the lack of thereof ancap.