I'm actually fine with a CCTV operator in a monitoring station viewing the feeds. I'm also OK with the recordings being kept a short time in case they are needed to investigate something not spotted at the time. What I'm not comfortable with is them being kept more than a month or so. CCTV footage kept long term may be linked with Face recognition for detailed and personal tracking.
Likewise with the ANPR, I would be OK with it kept and accessible for a month or so (although I think a judge should approve searches both on a particular event (time and location) and for searches on a particular number plate.
We may not yet live in a authoritarian state but can you rule out one occuring in the next 50 years? What if legal and reasonable things today are outlawed, gay rights roled back and they search the ANPR for people who may have frequented gay bars or the archived communications data for anyone who used Grindr.
In my view the collected knowledge is more dangerous than the terrorists to a free society and oversight and limits on retention are required.
You are right though that the majority of the public do not feel this way yet. That doesn't mean we shouldn't oppose the surveilance where not fully justified and try to educate them.
I would also note precisely what you said "people I know feel safer with surveilance" and while I think you may be right I'm really not sure how much safer they actually are.