I mean, if you know them, use your best judgment. My brother does stuff like this regularly where I'm out maybe coming home from work or something and just offers me a ride because we live pretty close. This seems like quite a normal thing for people who are close. Family and good friends generally like helping each other out and seeing each other. Same deal with friends and my Aunt who'll sometimes see me out walking in rain or something and offer me a ride just because they care.

Not everyone is out to get you. Ofcourse you should always use your best judgment, if its just some random person I'm not stepping a foot in that car but I generally heavily vet those close to me so anyone who I trust enough to consider a friend is someone I'd trust. Although not everyone vets their friends particularly well so I understand having some mistrust but really, if I thought someone was gonna do something to me they wouldn't be my friend in the first place.