We can do both - and already do. Ibuprofen is perfectly fine for non prescription. Super dose ibuprofen pills are prescription.

And then there's OTC drugs which are sort of in a weird middle area - and where some of these I feel personally might work best. Make them easily accessible to anyone without a prescription but at least a pharmacist has to hand it to you. They are the experts at dosing and what combinations of drugs are safe after all !