Pick one room and make it the roam room every time
Free-roaming a bearded dragon safely is mostly a room problem, not a dragon problem. Choose one room with a door that closes properly and use it consistently, because a routine room is one you can genuinely secure, while a dragon loose in the whole house is exposed to every hazard in it. Close the windows or confirm the screens are firmly fitted: a dragon that reaches a sill can push against a loose screen or slip through a gap you would swear was too small. Switch the ceiling fan off before the dragon comes out and leave it off until it is back in the vivarium: dragons startle upward and climb toward height when spooked, and a spinning fan is exactly where a leaping, climbing lizard does not need to be.
Other pets stay out, without exceptions
The rule that saves the most dragons is the simplest one: while the dragon roams, cats and dogs are in another part of the house behind a closed door, not being held back by a person and not watching from a lap. A cat's playful paw or a dog's sudden curious lunge happens faster than anyone's reaction time, and a dragon does not have to be grabbed to be seriously hurt; being chased into a corner or barked at from inches away is dangerous stress for an animal that size. This applies to supposedly gentle pets most of all, because those are the ones people relax around, and a dragon darting across the floor can trigger a chase instinct in a dog that has ignored it calmly for months.
Do the floor-level sweep before every session
Get down on your stomach and look at the room the way the dragon will experience it. Block the gaps under sofas, cabinets and appliances with rolled towels or cushions, because a flattened dragon fits into spaces that look impossibly thin from above and retrieving one from inside a sofa frame is miserable for everyone. Lift loose cables, coins, hair ties, pet kibble and any small object the dragon could mouth or swallow off the floor, and move houseplants out of reach unless you are certain they are safe for a dragon to nibble. Check the floor temperature too: cold tile is a poor roaming surface for an animal that runs on external heat, so favour carpeted or sun-warmed areas and keep sessions to a length the dragon stays active and alert through.
Supervise actively, and brief the whole household
Roam time is not put-the-dragon-down-and-make-tea time. Stay in the room, stay low, and keep track of the animal continuously; the moment you cannot see it, the session pauses until you can. End the session if the dragon darkens its beard, flattens itself into a hiding spot or stops exploring, since those are requests to go home. Finally, make those rules a household system rather than your private checklist, so the fan, the windows and the other pets are handled the same way whoever lets the dragon out. The relatives you pick can open its profile whenever the dragon is out, through KinsLe Family Sharing.