On my way from work to home or to the local coffee house, it is best to ride on the sidewalk for .4 to .7 miles. Not the best, but it allows me to not have to wait for two long signals. The downside is if I encounter a pedestrian I stop, only two driveways to contend with, the road has no shoulder or apron, no parking permitted and the speeds are basically 45-55 mph, (posted 40). Sometimes it is the choice of least risk and best benefit.
Beyond that one section I take service streets. I am willing to ride in the lane but I am realistic as to my chances.
By the way, in California at least the insurance minimums have been the same for decades, there are lots of drivers (85% or so) who carry the minimum. If you get hit, consider how fast that $15k could get used up. If YOU have a higher uninsured/underinsured motorist coverage up to your policy limit, (I use 500k) your insurance kicks in if you are hit on a bike after theirs has been expended. Hopefully I never need it, but it is there.
The cost to increase it is in the grand scheme of things pretty cheap.