Great photos and clips, when I looked where it was I was surprised to see it was near my home town of Guildford, unfortunately I moved North to Chester after leaving the forces, maybe on a reunion I'll get back down there.
I have crossed a road at height (50m or so with a mini3) whilst getting a shot but not hovered above. I have hovered (at a good height) to one side but probably within a 45 degree to the vertical so just as risky as directly overhead I guess. This was necessary to get the shot I needed. I don’t make a habit of it. Like you, I prefer to minimise any risks.
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Welcome to the drone family! There’s no rush, do things in your own time. You might find lots of useful things you might find helpful on my channel. Have fun flying