Independance - how do I encourage but keep ds safe?

[magso]

Ds is nearly 12 and now attends secondary SS ( he has MLD/ASD/ADHD). Other (ms) children in our village walk around/shop/ play in the park/travel to school without an adult from about age 7 and ds wants to do the same often pushing me away or telling me to 'go'! Ds grew out of the running stage a couple of years back and is now appropriatly concerned if he looses us. I am really struggling with how best to allow the freedom he wants especially away from our imediate neighbourhood ( where he plays with children a few years younger) but keep him safe. He has a good sense of direction ( so will not get lost) but a poor awareness of danger/ traffic/social rules/ time/ other people so is vunerable.
We live opposite a small park so he is now allowed to go there on his own ( I see him across the road) and 'front garden' or go for a walk around the park or otherwise keep a discreet eye on things and rarely do I need to intervein now.
How do others manage and take the next step?

[Dawndonna]

It is as suggested, practice and more practice. Having said that 16 year old has nearly been runover twice in the last fortnight, the second time I literally pulled him out of the way of an oncoming car.
We keep trying.