sensible is blocking the
to be taken option.
An adverbial of manner can help promote the passive version.
It is a sensible precaution to take. It is sensible for someone to take this precaution.
It is a precaution to be taken with care. This precaution should be taken with care.
It is a precaution to take with care. [Also possible. Slightly less idiomatic to my ear.]
In the first one, you can think of it as a truncated
for ... to ... clause.
CJ