What a great question. Wow! Avoid trauma and drama, but don't let fear keep you from the good things in life. All my three older kids and I walked to school together when I could, right into senior in high school. Walking with somebody you love is just plain special. Checking out the neighborhood, seeing what neighbors are up to. Fresh air and privacy to talk about stuff. Free flow comments on the little things. Did I mention healthy and a great way to start a day?
But unless you got business like, PTA, Site Council, paying a bill or an appointment just let go and turn around a good distance from school. That there is their space and not your place. And please no PDAs, that is private stuff. My young son gets to help me do manly man chores around the house, but not get into my domain when it has to be done by an adult. I suppose the same is true in the reverse, I can hang out with him but not when it just has to be done by a kid.