Sure, you occasionally see a random Imperial Guard walking down the roads, but that is really nothing.
I think it would really add to the atmosphere if there were actually caravans and travelers going through the big roads between cities, and occasionally some bandits on the smaller roads who ambush travelers.
A forest where it would actually be dangerous would be nice too. Not too powerful animals, but in large quantities coupled with powerful monsters would make it much more fun to go through the forests, since you're always being paranoid.
It would make you use the large roads more often, since there are other friendlies around in case there is an ambush or a monster comes strolling across.
I think it wouldn't be too hard to add, since you can just add in a schedule in Radiant AI or something to tell them to go to another town, buy stuff, sleep in an in, and travel back.