Not to be rude but I think you have an exaggerated fear of riding on roads due to lack of experience and are projecting it onto "most" people. Most people do not seem to to have a fear of riding on roads around here. I just completed a charity ride that had kids as young as 7 or 8 riding their bikes on roads and the parents and organizers were fine. I had an elderly man in a wheelchair adapted tandem bicycle. No one seemed afraid.

As far as touring goes, even when pathways are present I avoid them in favor of roads with shoulders. I find pathways meander far too much and have steeper, more abrupt grades. The one difference might be destination tour specific pathways that create a complete experience out of doing them like the Katy Trail or the Kettle Valley Railway.