Guys, would you walk a female coworker to her car if she asked you to?

When I leave work it's already dark outside and unfortunately I often have to walk for 5-10 minutes to get to my car. It scares me to walk alone to be honest so I'd like to ask my coworker if it's okay when he walks me to my car. But I'm just afraid he could think that it's selfish of me if I ask him.
Guys, would you walk a female coworker to her car if she asked you to?
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