Lots of girls offer pussy sliding. Once there is no lube used (more chance of accidental penatration ) both people are sober and careful and the sliding is done at the base and middle of the penis there is no issue.
Going down on an escort would be more risky but obviously you need enough length in your penis to allow this ..... if you have a small penis it would be much harder to do safely.
I am not a doctor so make up your own mind everything has a certain risk fingering, oral, own etc etc