i have a pretty regular 20 round trip ride i do.

i leave my apartment complex directly on to the sidewalk so as to quickly get to the strip mall parking lot that provides a relatively safe environment. it's only about 50 yards of sidewalk. occasionally i encounter pedestrians. i usually ride off the sidewalk or stop and let them pass. after all, it's only 50 yards.

there are a couple of other spots where the sidewalk seems to be preferable to the road.

like the OP, i ride on it when the alternative seems less safe for all concerned.

and no, i have never been ticketed in 30 years. including about 10 major cities. (denver, tuscon, phoenix, detroit, columbus, sacramento, san francisco) ok, about 7 major cities.