I have pointed this out in the past (on a thread involving picking up hitch hikers)
The idea of using a suspected danger to avoid doing a mitzvah is a snare of the yetzer hora
The misalis yesharim addresses it in chapter 9 (i think)
I believe that this thread with all its cheshbonos of reasons why not to do it (Who knows the driver, it might be dangerous, I might need to run to the hospital) fits that chapter to a T.
Bottom line
Acc to M’Y. A danger is defined by a lion on the road in front of you, an actual present danger. Otherwise if
You have a chance to do a mitzvah with a supposed fear competing with the mitzvah you go with the mitzvah
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