Go to nextdoor.com and see if they have that for your location.
It's kind of like a facebook for neighborhoods. You can familiarize yourself with neighborhood doings, like someone lost a cat, and someone else is having a yard sale. Go to the yard sale and say you saw it on nextdoor.com.
I have crippling fear walking down the street too, but it's different than yours. I am literally physically crippled and would have to walk using a walker. A person could knock me over with a feather, then grab my purse. (Or beat me up, if that is what pleased them)
Going for a walk around your neighborhood gives you an opportunity to wave, nod your head, say hello, and compliment people's dog, their landscaping, or their adorable baby in the stroller. If there is a beautiful sunset or splendid weather, you can inoffensively say so, and it might start a conversation.
I hope this helps. I might not understand where you are coming from.
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A finger in every pie.