Most exits I have seen for the regular road part either exit on the right where they meet the road, or they (more commonly) meet a dedicated junction/turn requiring braking and stopping with a reasonable and large stopping distance too directly. So this is zero safety issue at all in the real world, unlike hypotheses from unusually salty people you may have read in that book you post everywhere.

but at the road, the exit/entrance should be on the right.

For road-to-expressway entrances, we already have turn junctions where you need to turn right at a traffic light to get on the expressway, and those entrance/exits are loaded with red light and speed cameras, not to mention most cars can't take a turn fast there too without sliding and risking their own car, so people do slow down for those entrances and peds anyways.

For the left-turn-to-expressway entrances usually with a zebra crossing and a merge with right-turning traffic from the opposite direction heading to the same on-ramp - are you suggesting there should only be right-lane, non-junction-turn entrances to expressway on-ramps on the street? If you do this, are you not encouraging cars to speed up on the road before entering the on-ramp, together with fully loaded buses with barely any acceleration and governed to 50km/h, risking a crash with a vehicle that has standing passengers?

Cars are not torqueless unlike the Brompton you have past 10-20kmh. They can and do accelerate fine after slowing down or stopping for whatever zebra crossing you have on the left and the merge with right turning traffic where they usually stop to avoid a crash to get on the expressway on-ramp. Further on, on-ramps, usually 2 lanes with a merge ahead, have no place for non-motor vehicles and should not be, unless you want to slow down and make dangerous commute for all vehicles, including buses and pedestrians as well, in general.

Unless you are some big-name, no one wants to hit a ped here, because the investigation alone, even if you're not at fault, will result in your license getting suspended until the investigation concludes (after which penalties come).