To nitpick your framing a little bit, while it may illegal to sell raw milk, I doubt it's illegal to buy it, which is a distinction that has to do with scale (one could sell raw milk at scale, but not consume it at scale).

I haven't researched raw milk and I have no idea how dangerous or safe it may be, but the motivation is to prevent sale of [dangerous thing] to people who may not be aware of the dangers of [dangerous thing]. To use another silly example, let's say there's an entrepreneur who sells a toxic mixture of chemicals as a "health drink"; you could argue about whether that should be legal or illegal, but I don't think anyone would say it's a no-brainer that a law prohibiting the sale of that health drink exists on the right, strictly-exists-to-curtail-individual-freedom side of of your spectrum.

To your point, I can think of a few laws that do belong on the right, "I just don't like it so it should be banned" side of that spectrum, and things that come primarily to mind are puritanical laws banning transactional sex, consumption of certain media, prohibition of selling alcohol on Sundays (which is a religious, not health, concern), decency laws; things like that. I don't think FDA regulations belong in this category.