Carry a shovel.
Use common sense.
Be a good samaritan.
I do a lot of volunteer work for the emergency services when it snows. It's amazing what a bit of shovelling and a push can achieve and it's even more amazing just how perilous a situation people can put themselves in. Last year at night I stumbled across a tiny hatch back beached in a snowdrift down a rarely used country lane, he had his wife and newly born in the car, no warm clothes, just determined to get to a hotel. Shovel - push - out. Later, around midnight, I was on the top of a mountain peak on a closed road littered with abandoned cars and was flashed down by a guy and his GF wedged in a deep bank of previously ploughed snow in an ex military Landrover defender (still on the military tires but no shovel or strap). He wanted me to pull him out, but I insisted on digging while he sat inside and got warm. Some types of deep snow can interlock and give the same resistance as swamp mud. I dug like crazy in a driving blizzard, could barely see my own hand in front of me and he was able to rock it out from there. He was only out there to play around.
I appreciate the adrenaline when you feel your help can make a difference. A few years back I had to make may way through rush hour traffic while obeying all laws to recover an ambulance with a patient onboard. It's hard to keep your cool with that mixture of fear and determination, but you have to try your best.
The litigation thing is a frustration and really you need to take that thought that "Property may get damaged and people may get injured and sue me." and change it to "Property may get damaged and people may get injured." because that's bad enough.
In contrast to the above I got it all wrong on one occasion last year. Young pretty girl on a housing estate in tears trying to get her nearly new BMW home. I pull over and offer to be the hero, end up grinding her alloy wheels along the curb at one point as I towed her car up the hill. Another guy had stepped in and was steering her car (badly) but I always feel uncomfortable about that one. I should have simply helped push her car somewhere safe and driven her to her house.