I have the same thing, a harness helps me pretty much 100%, it removes the falling/death fear.
My shed is on raised concrete piers on a hillside that overlooks a dropoff, from top of the rear of the roof to the ground of the lower lawns is almost 25ft,
I feel your pain. Front of the roof to the ground is about 12ft... I had to go up to remove branches recently and it was not pleasant. My house is 2 story and needs all the gutters cleaned at some point probably spring, not looking forward to that. Going to get one of those drill attachment spinner devices to clean them hopefully from a short ladder or the ground.
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