Yeah, I would think of it as closer to riding a bike than driving a car in that respect. People do it all the time but you want to be careful about route selection.

Well I wouldn't ride a bike on the sorts of roads I had in mind either (and I'm generally comfortable riding on busy roads, but only when there's enough dedicated space for bikes.)

That's what I mean by thinking of it more like a bike. Just because a road is legal to ride on doesn't mean I would want to, you have to take the scenic route sometimes. But at least you're not getting rained on, and you can haul a lot more groceries up a hill than I would want to while biking.