I focus a lot on appropriateness on this blog. This isn't about censoring or banning books but about picking the right book for the right kid and making sure that kids are aware of the content that may be in their book. We often underestimate what our kids can handle and we underestimate what they can learn from books that feature characters with differing values. The Young Adult Audience
The young adult genre is extremely broad. It covers books that are targeted for 10-14 year olds , books that are targeted for middle school and up and books that are targeted for the high-school/adult crossover audience. The characters in these books also range in age from 12-20. Additionally many books that are stocked in the children's section are more difficult reads and enjoyable and appropriate for young teens and many books that are stocked in the Young Adult section are appropriate for younger readers.
This makes picking a book even more difficult, epically for the younger middle school audience. Subjects like sex and alcohol and drugs can be handled in drastically different ways. A princess drinking wine at dinner during the middle ages for example is far different than a modern teenager getting drunk and driving away from a party and laughing off their bad behavior. This is why the context of this adult behavior needs to be looked at before dismissing a book as too adult or "dirty."
Should I let my child read what they want?
For the most part I believe that if a child wants to read a book then you let them read it. If a child finds a specific passage uncomfortable they will either skim or skip the section (this is done quite frequently with romantic sections) or they will put the book down.
If parents know what their kids are reading then they can discuss topics that they may find objectionable with them or use the characters behavior as a stepping stone for a big talk. Talk about decisions that the characters made and how they relate to the values that you hold in your household.
Additionally, if an adult is picking out a book for a child they can make sure that the book fits their level of appropriateness. It's far different for a child to pick a book that they really want to read that has questionable topics for their age and for an adult to buy or recommend a book for a tween or teen that has questionable content for their age without first warning the child or parent that the book contains those elements.