It's a difficult one isn't it? DD was very similar at that age, and even now she's still a confident, outgoing kid that loves meeting new people. She was also a terror for wandering off a lot of the time, I'm sure I've got a few grey hairs from it
But I found that the best things that worked for us were reinforcing the message that she needs to stay where she can see me at all times, that she should never go with anyone without checking with either me or her dad first and not to accept gifts from anyone she doesn't know without checking with us. We always encourage her to introduce the new person to us as well, or to come tell us about who she's met so we can meet them too.
We've also taught her that her body is her own, and that she has the right to say no or to kick up a fuss if somebody is doing something to her that makes her feel yucky etc. Even if it's somebody she knows well, she is the one in control of her body and decides if the way someone is touching her is ok or not.
The other we taught her is who she can go to for help if she needs to. We talk about what she would do in various situations such as getting lost or separated from us, or if somebody tried to get her to go with them or was doing something that made her feel scared. All this did get put to the test a couple of years ago when after a day at the Royal Show, she got separated from us as we were getting off the train and she wound up stuck on the train when it left the station (long story). She coped extremely well, another passenger assisted her to press the driver call button and the train security guards met her at the next station to escort her back to us. I was so proud of her, that even though she was very distressed and frightened, she remembered what we'd taught her and that helped keep her safe.
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