What term describes a state of doing without punishment?

The term "impunity" refers specifically to the exemption from punishment or freedom from the injurious consequences of an action. In contexts where someone acts with impunity, they are able to do so without fear of repercussions or penalties for their actions. This term typically highlights the lack of accountability and can apply to actions that are unethical or illegal, yet remain unpunished.

The other terms are not relevant to the concept of escaping punishment. "Judicious" refers to having good judgement or being wise in practical affairs, "lament" describes an expression of grief or sorrow, and "impetuous" characterizes someone who acts quickly and without thought or care. None of these convey the meaning of being free from punishment, which is why "impunity" is the appropriate choice in this context.