i do use the roads for walking down when the pavements are still icy, even today. But often the road is only non-iced where the wheel tracks are, or if a narrow road, in the middle for some reason. The roads, next to parked cars or the kerb, are still iced. So yes be resonable but also logical.

Most times when i have done this car drivers have been very understanding and courteous, good for me and even better for those less able to swerve at speed to the still icy bits

We're all going somewhere