I think it’s important to do what makes you feel safest and if that’s to have another person along, then best to do that. I would suggest that it’s worth a try to ask your Primary Care Provider to refer you for Physical Therapy. The PT will ask you your goals (maybe to walk without hands-on assist and to be given a Home Exercise Program for strengthening and balance?). The PT will evaluate your gait and offer training/suggestions for being able (if possible and safe) to walk with a recommended assistive device, rather than a human.
I use a straight cane at times (graduated from a rolling walker) to go into a store, I also try to park close to a shopping cart drop-off and snag one to balance myself while heading into the store. I also wait for people unloading their carts into the car trunk and chat 😊Everyone is always glad to hand off their cart. I never go up or down steps that don’t have a railing, try to avoid uneven surfaces (lawns, mulch), am very careful stepping off curbs, never back up/step backwards without something or someone to steady myself. Living with poor balance is a whole way of life, but better to be aware than on the pavement.