I've gone through New Jersey almost every year since the 1980's on the way to visiting Pennsylvania relatives. I've stopped for gas,which somebody else pumps ,used restrooms,ate at restaurants ,even stayed in a motel a time or two.
Always carrying a firearm. Nothing untoward has happened to me yet. I'll continue the practice until I can't drive anymore.
Some people just worry too much.
Yet is the key word.
http://en.m.wikipedia.org/wiki/Brian_Aitken