I used to work for a major aerial lift manufacturer. Most of the accidents referenced above have to do with either driving while elevated and going off a curb (hard to judge the ground elevation changes from way up in the air), or having the heavy self-driving machines (not the lighter towable ones being discussed here) driving over an underground void (stormwater tank, septic tank, or other hidden void space underground) and dropping a tire in, which will definitely cause a fishing-pole-type whipping of the extended boom which of course can lead to a serious injury accident.
The self-driving boom lifts are extremely heavy due to the counterweight on the machine - my plant made 20' to 34' lifts, and we had counterweights in the 8K to 16K pound weight range - that was just the counterweight, not the total machine weight which was much higher. You can have a very high point load of 5-6K pounds of weight on less than a square foot of tire contact area under one corner of the machine, so this is what can cause failure of hidden underground structures that were not designed for that kind of point load (like a plastic drainage culvert buried a foot deep).
If you use common sense, 99.7% of lift accidents can easily be prevented. The trailered boom lifts have outriggers and self-leveling systems. Depending upon your soil conditions, you may want to install wooden blocks/pads underneath the outrigger feet to distribute the force over a wider area. Use your own judgement and common sense here - if you deploy the outriggers and a pad pushes into the soil a few inches or more, well durr, better widen the pad's footprint!
I would not hesitate to use such a machine at all myself; I did extensive field testing of our products as do all lift manufacturers. Based upon your described situation I believe that you have correctly chosen the right tool for the job. Trim up any trees on your property and clean out your gutters while you have the machine as well!