It is if you become proficient at it. Just like with any other method. Sticks, one sticking, etc can be pretty sketchy at first. Not to say he isn't proficient. That aider scare could have a lot to do with not wanting to step into anything similar, and being hyper aware when he does. Better to be cautious.
For me, I think that getting the moves down and standing in the foot loop for as little time as possible is key. If I'm standing on the foot loop for more than 15 seconds that is too long. Step up, move the top tether, sit down. Don't hang out standing on the foot tether with slack above you. When you attach the ring of steps be in a comfortable seated position, not trying to do it balancing on one foot. That's a recipe for disaster.