Hello highnrg1: You know... the Skeezyks is a solitary old goat.

So I don't know a lot about this sort of thing.

I also struggle with my share of anxiety, fear & paranoia.

So my perspective is skewed to say the least.
Having said that, though, I would have to caution that it is a dangerous world out there.

I don't think there's anything morally wrong about casual sexual hook-ups. But your question is apropos. Is there a safe way to do it? Personally I doubt there is (This includes exposing yourself to truckers you pass during car trips.)
From my perspective, it's sort-of like flying. Most people who fly get to their destinations safely. But a few also go down in flames. So, from that perspective, the question becomes, are casual hook-ups worth the risk that you may be one of the ones who go down in flames? Only you know the answer to that question. I wish you well...