As a strong proponent of not cycling on sidewalks I do believe it is possible to do so with relative safety. This means at a slow pace due to uneven surfaces, pedestrians and poor sight lines. One must also stop at every intersection/driveway to ensure no vehicle is turning across (from all directions!). Overall this results in significantly slower travel. I know that I don't have the discipline, the patience nor the time to so I have always used the road as it is far more convenient and comfortable.