I've been riding 50+ years, and haven't had any issues, now that I'm in my 70's, I'm a little more cautious . I'm using front and rear flashing lights, a small mirror (turning my head is getting harder too). I've learned to climb better, which takes me out into more rural areas, less traffic. And as mentioned earlier, bike paths are not safe , either. Yell "on your left" to a kid, and they turn to the left, to see whats up, and veer into me. Granted, you won't die on the bike path, but you or your bike will get damaged. Also, I signal, point the way, when I need to make damn sure, a motorist knows where I'm going.
For my wife's peace of mind, I use Garmin live track. KB