Users cannot check if a domain is "ok" by looking at it. You visit websites to discover what's there. A few years ago it was common knowledge that ".to" is shady and ".com" looks more legit. Now we have more TLDs than I can count. How is someone supposed to check that with visual inspection?
The way it should go: you scan a QR code. It gets interpreted into something useful that doesn't cause harm.
"Hey this QR would cause a 5€ transaction to Jon Doe. OK?" That's something the user can decide upon. payment://jon-doe:5€ doesn't help much.
(Edit: reading your post again, I realize it might be exactly what you have in mind)
Just compare with today's internet advertising. Legit websites are still full of somewhat malicious ads. And users click on it - of course, since that's what a website is for.
What I'm trying to make clear is that there is no such case where QR scanners, browsers or application may consider a safe context where the user implicitly consents with malicious actions by the QR/website/...
In a world where browsers are vulnerable to remote code execution, and a world where users do not run the latest version of a browser, and in a world where zero days exist in browers, it absolutely does matter.
Worked great for me on my last phone, and peace of mind knowing you aren’t being tracked.
Available to download on fdroid or the play store.