"website wants to connect to another computer" basically describes all websites. Do you really expect the average user to understand the difference? The exploit is also non-trivial either. SDP and TURN aren't privacy risks in and of themselves. They only pose risks when the server is set to localhost and with a cooperating app.
The thing that's happening here isn't really a problem with WebRTC. Compare this to having an app on your phone that listens on an arbitrary port and spits out a unique tracking ID to anything that connects. Does it matter if the connection is made using HTTP or HTTPS or WebRTC or something else? Not really. The actual problem is that you installed malware on your phone.
> Most users probably will click "No"
Strong disagree. When I'm loading google.com is my computer not connecting to another computer? From a layman's perspective this is the basis of the internet doing what it does. Not to mention, the vast majority of users say yes to pretty much any permission prompt you put in front of them.
Most users probably will click "No" and this is a good choice.