Hi Karolien,
I rarely know where I am going to stop, it usually depends on how long I have been riding and if I need petrol or the toilet. Do not be intimidated by groups of people be they bikers or anybody else, you are highly unlikely to meet anybody who means you harm and nothing bad is going to happen with an audience.
I also try and park the bike where it can be seen if I am leaving luggage or a tankbag on it but as long as you put the steering lock or alarm on it is unlikely to be taken from outside of a service station or café.
It sounds like you need to build your confidence up with other people, perhaps you could persuade a friend to go off on some day trips with you until you do.
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