Back when propane was significantly cheaper than gasoline we had several propane fueled trucks and even more using propane heaters. The only issue was if the operator over-filled the tank the regulator could freeze up. The engines did stay very clean, but eventually as propane prices rose the lower mileage of propane took away the per-gallon cost savings, and the cost of the conversion kit no longer could be justified.
The fires I've seen were caused by letting the heater get dirty enough to have flames come out the sides of the case, poor installation of tanks inside the truck, operator smoking while fueling, and mostly pilot lights left on while fueling tanks mounted inside the truck. If you have a belly tank and no line leaks you have nothing to worry about using propane.