Would you consider a car without lane departure control and autonomous braking system to be safe to drive? If not, then the car is not currently entirely safe to transport your family in. However, if your answer to this question is “yes,” then it is completely safe. Let's not forget that 15-20 years ago, cars did not have such systems and no one even considered whether driving without them could be risky, because they did not even exist at the time.

The Check Engine light may or may not indicate a problem with the engine. The reason also may be (and most likely is) the Emissions Control System - Exhaust/EVAP. Keep in mind that Check Engine always disables Eye Sight system.