No, the FAA doesn't say you can't fly over roads or bridges, heavily trafficked or not, the rules have to literally say that and they do not.
I think it's far more rare than you believe. There are far more YouTube videos of non-crash flights than crashes. And most crashes are close to the ground and pilot error vs just plopping outta the sky.
Also, no, a 3-4 lb drone hitting a windshield is not going to penetrate it. Scare the driver? Sure. Those people hit by a stone? They didn't crash. They pulled over and took cell pix, all unhurt etc. and those stones were certainly more dangerous objects than plastic toys.
The FAA currently says not over "groups of people" - that's the rule and literally what it is and isn't is there. The only negotiable item is what constitutes "group"
Taken notes this applies to people who aren't part of
The flight operation. As a photographer, say you were hired to film a wedding, you could fly over that group of people because they are part of what you are doing. If you did a photoshoot of a music video and it includes a big group of props driving through heavily trafficked bridges you could film it.
Look, there are rules - follow them!! But don't expand them out of excess caution. You don't get karma points to use later if you screw up, so, as you said; Use common sense, and as I added, in moderation.
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PhantomPilots