I don't have trouble sleeping in the woods at all, and I've been doing it for so long that I don't even recall the 'fear of stuff in the wild' phase, perhaps because my Dad started taking us kids car camping when we were very young. We were car camping on July 20, 1969 and listened to the news coverage of the Apollo 11 moon landing on the radio of a '63 Pontiac station wagon, and by then I was a 13-yr-old 'veteran'.
So if you keep doing it long enough, at some point you will stop worrying about it. I would dare say that the collective experience of people on this forum here would add up to literally many thousands of people-years with practically no major incidents... hardly a blip on the danger-meter. Certainly sleeping in the woods is statistically far safer than the car ride to the trail head, to which nobody ever gives a second thought.
Nowadays, just for the heck of it, when I get up in the middle of the night to hydrate the vegetation, every now and then I will crank my 200-lumen headlight up to max and scan around the woods to see if there are any retinas reflecting back at me. Very rarely do I see anything at all... in the past year I've seen a deer, one porcupine (maybe skunk) and a little field mouse in the hollow of a log.
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