It's not like you were any less mature at 17 as a college freshman than you would've been had you been had you been a high school senior at that time. You were just less mature relative to the people in your year. The exact same people in the world who were more mature than you would've still been more mature than you had you been held back. You just wouldn't have known many of them.
As far as experience goes, you were probably more experienced(in least in terms of education) than you would've been at any given point in time, because you had more schooling under your belt. I think a 17-year-old college freshman has a better idea of what they want to do than a 17-year-old high school senior, even if they don't have as good an idea as an 18-year-old college freshman. By your 18th birthday, you had already experienced a few weeks/months in college. If you had been held back, you'd have still been in high school on your 18th birthday with no experience in college. Again, you were probably less experienced relative to the people in your year, but probably more experienced relative to people world-wide.
There are a lot more people in the world than just those we've gone to school with. It makes more sense to compare yourself to people your age than people in your grade, as age is scientifically-based while grade-placement is conventionally-placed. Growing up, you probably knew more than most people you age, but just didn't know many of them.
While there may be no physical downside to being a 19-year-old freshman, it's not natural or normal to turn 19 before January of freshman year in my state. It's better to follow a natural schedule with less desirable results than an unnatural schedule with more desirable results. To your last sentence, I might have an advantage over other people in my year, but like I said before, the default way to compare yourself should be to people your age, not in your year. While I, as a 19-year-old freshman, may have an advantage over the 17/18 year-old freshman, I'll be far less experienced in life than a 19-year-old who's a sophomore/junior.
Also, if you didn't like starting college at 17, why didn't you just take a gap year after high school?