I work in rocket propulsion research and have worked with, and around, both of these propellants, and I think you exaggerate to the point of being incorrect. You can smell hydrazine long before it's dangerous - it smells a bit fishy, somewhat like ammonia. It has to get really quite bad before your body-mounted gas alarms tell you that you're above recommended limits.
I'm more worried by NO2 but as a fume it's bright orange so one can normally see a cloud of it coming and make plans to head somewhere not downwind. If you do get caught by some, protocol is to lie with your head at the bottom of an inclined plane for several hours, so the the fluid can drain out of your lungs (and you call an ambulance of course).
When propulsion tests are happening on site we keep emergency breathing apparatus under our desks incase there's a containment failure and we need to get out. Usually though we just test when the wind direction would take anything away from the office/workshop.
I'm not bothered about kerosene but I have a healthy respect for LOX; it's as easy to kill yourself with it as with hydrazine. Where breathing apparatus and chem suits will keep you safe from hydrazine pretty much, LOX doesn't forgive any dirtiness, grease, human hair, or the wrong choice of o-ring material, especially when pumped at high speeds and pressures. Different risks but LOX is arguably more likely to bite you.
Here's an often-cited LOX safety video of the sort you probably couldn't make today:
https://www.youtube.com/watch?v=QioE_OX4vP8