Millie is much the same, too! There are some very quiet single track dead end lanes near me where I let her off lead. Very occasionally a car comes along and I have to stand in its way, waiting for her to look at me so I can show her the 'Come!' signal. Drivers are generally tolerant when I tell them she's deaf.
Millie gives me a smile when she sees me after I've been 'lost' as well. Ears and eyes relax after the furrowed brow worry look.