The few kilos of hydrogen are distributed over several tanks and housed under high pressure in the car. The production is very complex and requires special techniques. These tanks are woven from a special material.
If one of the tanks were to leak, the hydrogen escapes upwards. In contrast to a petrol tank, in which the petrol is burning on the floor.
In terms of safety, hydrogen is less problematic and more comparable to a natural gas powered car.
The Mirai is basically mature. It is currently failing because the car costs a lot and the hydrogen station network is still very thin.
Hydrogen technology will definitely play a bigger role in the future.