I am a moderately-direct person, and I agree that "Are you free to hang out?" Sounds like a demand: Unless you have a good enough reason why you can't, I expect you to show up. This is, indeed, because it was the language used by some more controlling people in my past, and knowing that, I try to avoid a knee-jerk response when a perfectly nice friend uses the same phrase, but the knee-jerk is there under the surface. "Do you want to hang out?" or "I'd like to hang out with you." is an invitation, rather than a summons. You don't even need to prevaricate about why they may not want to. — Meg 1 min ago