1. Don't put secret information on a machine where someone you don't trust has root.
2. Don't use agent forwarding unless you know you can trust the machine on the other end.
Since agent forwarding is not enabled by default, both of these seem pretty obvious to me.
Most "use cases" I've come across could have been solved "better" by simply using ProxyCommand instead. That was apparently too hard, though, so use of agent forwarding continued.
Since the introduction of ProxyJump a while back, however, it's now even easier to avoid using agent forwarding in most -- but not all -- cases.
So yes, be careful when using agent forwarding but, more importantly, as much as possible, just avoid using it entirely unless you absolutely must!
This gets said a lot, but doesn't forcing a prompt every time the forwarded key gets used mitigate this? SSH is not like surfing on the web with traffic flowing everywhere all the time. If you did not just now run any commands that are expected to invoke SSH, you probably don't want to answer yes to that prompt.
On both ends. Agent hijacking can happen on client or server, with an attacker present. And is there any machine you can 'trust' ? That's a big ask, and I think the modern 'zero trust' is fundamentally averse to the concept.