Comment by jacquesm
I've been doing this the better part of a lifetime and I still need to be careful so don't feel bad about it. Just like rust has an 'unsafe' keyword I realize all of my code is potentially unsafe. Guarding against UB, use-after-free, array overruns and so on is a lot of extra work and you only need to slip up once to have a bug, and if you're unlucky something exploitable. You get better at this over the years. But if I know something needs to be bullet proof the C compiler would not be my first tool of choice.
One good defense is to reduce your scope continuously. The smaller you make your scope the smaller the chances of something escaping your attention. Stay away from globals and global data structures. Make it impossible to inspect the contents of a box without going through a well defined interface. Use assertions liberally. Avoid fault propagation, abort immediately when something is out of the expected range.
I strategy that helps me is just not use open-coded pointer arithmetic or string manipulation but encapsulate those behind safe bounds-checked interfaces. Then essentially only life-time issues remain and for those I usually do have a simple policy and clearly document any exception. I also use signed integers and the sanitizer in trapping mode, which turns any such issue I may have missed into a run-time trap.