In my neighborhood growing up, we knew almost all the families very well (at least the ones with a stay-at-home parent) and would have offered/accepted without much of a thought. Those families and mine still keep in touch with to this day.
Sometimes, we'd be at the bus stop and it'd start raining, and a mom who was waiting with us would say, "I'm getting the van. Whose mom is home and can get a ride? Who needs one?" Some of the troublemakers or kids with less friendly parents didn't usually participate in this scheme, to my memory, but they also usually were late to the bus stop!
When I walked to junior high with friends, one mom would get in her car and drive along our route if she noticed it had started raining, and we'd hop in for the rest of the route. Or I'd be waiting for her kids to show up at the corner where we met, and I'd see her van instead, and hop in.
So I guess, if I ever had kids, I'd probably feel similarly unless otherwise alerted to a certain feeling or custom in the neighborhood. It's a favor from a trusted adult, not a creepy stranger-danger situation.