I'm HOH born hearing, it's been a gradual loss for me. My right ear hears very little now so it's gotten tough for me to figure out where sounds are coming from sometimes, and unless I'm concentrating I sometimes don't hear things if they're quiet or blend in with background noise.
I live in a urban environment and so far the biggest change for me while walking is being more visually aware. I used to trust my ears and would casually stroll across small streets without really looking well. Now I'm more careful to look both ways even when I'm just grabbing the mail across a very small residential street.
I know I can't trust my ears anymore, and now I'm getting used to trusting my eyes more. It's not uncommon for me to second guess myself with a thought like "did that car move, or is it parked, better look again"
Beyond that, I wouldn't say it's made me scared, but I do still have a fair bit of hearing in my good ear. If I lose that too, I might think differently of it, but honestly I think adjusting and trusting your eyes and just being more visually aware is helpful.
I'm also a tall guy, my wife, a smaller stature female, has always been a little more wary walking alone. So I think for females this is maybe a more common feeling, regardless of hearing.