I believe in following your intuition. You are experienced on those roads, so you are riding in a manner which you feel is safe. Bravo. Perhaps in the future you'll come to a place where you feel more comfortable riding that short stretch out on the road, rather than on the sidewalk.
Also, it seems like you are aware of this, but be very careful crossing the side streets. My gf, who used to hate riding on roads, was hit and run over by a driver who did not see her coming off the curb to cross the street. She was severely injured. Five years later, now she rides roads exclusively.