Even with regards to perception of danger, one's reaction, involvement and urgency can be quite different when it is accompanied by fear and when it is not. This of course does not always work in one's favor. So you have instances of "petrified with fear". But is it beneficial more often than not ? My gut feeling is yes.

To add to you example of crossing a street: one can be rational about crossing streets. But when you suddenly realize you are about to be hit by a stray car, you do not have sufficient time to reason about relative velocities, trajectories and models of a driver's behavior. You just jump, hopefully out of the way, in fear/reflex.

But I agree that our fear responses have lagged behind in relevance, with respect to our changing world. But that is true even with other biological preferences. Say with our preference for fatty food. Evolution is after all a high latency process.

I believe personnel in hazardous situations are trained not to be insensitive to fear but to be choosy about what to fear and to react rationally to it....atleast in theory.