I unfortunately have not much choice in my North NJ to Manhattan (and vice-versa) commute. I have altered my route here and there. But some of the larger roads cannot be avoided entirely. If you feel more comfortable riding a MUP (if there is one) or even the sidewalk, then do so. For example, I still ride the sidewalk for two blocks on Polifly Rd in Hackensack, NJ right before (and under) the Rt 80 overpass. There's typically a lot of traffic there since cars and trucks are getting off of the highway and onto this road. It makes me feel more comfortable and I don't have to contend with the traffic there as much.