Personally? No. It's VERY rare for me to feel intimidated.
For one thing I am a pretty big guy... I don't work out a lot but I have pretty broad shoulders and a pretty big chest (so people are more likely to be intimidated by me).
Also I took martial arts throughout my teens. That doesn't mean that I think I can beat anyone up (or at least not any more than the average guy who watches action movies does

), but rather I have some experience with getting hurt, getting hit, and minimizing that damage. Any real martial arts instructor is going to tell you NOT to fight except as an absolute last resort.
But mostly, I have spent a number of years working in a downtown convenience store (including many night shifts) so I am pretty used to dealing with: homeless people, drunks, "tough guys" trying to pick fights, drunk people, crack heads, junkies and various street criminals... etc.
So I have been yelled at, and threatened, and had to break up fights in my store. And even had to physically throw people out.
So I am pretty used to people and situations that would likely feel threatening to others.
Despite the extreme examples, the fact is you can simply talk to most people as if they were... y'know people, and things will be fine.