Sounds logical, but nope. Not in my case, anyway. Having someone go with me would be even more annoying because I'd have to share my personal space, listen to them talking, make conversation, modulate my emotions to be polite, follow their schedule or timeline, and deal with all the sensory input of another person's scented products, noise, etc. When I leave the house it's generally because I want to be alone for the duration of the drive (both ways), and I want to have as little social stimulation as possible when I reach my destination.
I'm an adult. I'm self-aware enough that I can control my behaviour in public even though it's exhausting and I nearly always collapse when I get home. If other people can't respect someone acting differently, having benign mental health issues which don't hurt anyone, being mute, or being disabled by noise and bright lights, that's their problem. There are plenty of resources available to educate people so they will be more accepting and compassionate toward other people's mental health or physical needs.
I say again that I'd only need the ID in the event someone else thinks I need help. Unless I suffer another stroke and pass out on the ground, I'm quite confident I can manage much better on my own.
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I never give you my number, I only give you my situation.
Beatles