Learning to let kids get dirty

I need some tips and advice on allowing myself to allow my kids to get dirty, go out in the rain/snow/heat and just be kids. I wouldn’t classify myself and overly protective or a helicopter parent. I let the little ones do things like lick the floor and crawl around pretty much anywhere we go as long as it’s inside. This makes no sense whatsoever to me and I’ve tried to break the habit. Our yard is full of roots, nails and other unknowns since it’s a new build so I’m extra worried about them going outside at our house. I’ve intentionally gone to the park and let the baby crawl in the grass, but I darn near felt a panic attack coming. He was having a blast, but I just couldn’t let him do things like pull out the grass and taste it. Also, I live in a very rainy part of the world. I don’t want to go outside and get wet therefor I assume they don’t either, but yet, puddles are the best to them. Someone, please give me advice on overcoming my aversion to basically being outside.