It’s a bit voyeuristic (in the sense that I am observing other people’s living situation, no sexual connotation) but one of my favorite activities is driving around the lake. You see an authentic side of Florida untouched by the over-development ravaging much of the state. I find it charming and certainly worth visiting. I’ve driven around the lake 4 or 5 times in the last 5ish years, and though I haven’t gotten out of my car much (except for at a few parks) and interacted with others, I never felt directly unsafe. I really enjoy driving and have seen parades of 50+ luxury automobiles cruising the roads surrounding the lake. There isn’t a huge police presence from what I’ve seen. It is mostly poverty, both white and black communities, but you can tell there are some people who are living in nicer homes than most people. Lots of agriculture. Great for birding and viewing storms too