I usually find it safer driving behind semi trucks. They can see further down the road and change their speed with greater consideration for efficiency, i.e. slower acceleration and braking. Also, if the truck decides to do an emergency braking maneuver, unless it is very light, should be far greater than that of a light (and well maintained) passenger car.
I have also achieved great mileage following a speeding vehicle (not too closely of course) because I presume their wake becomes larger at higher speed. However, when that person slams on their brake, their car's/truck's/SUV's braking distance is much shorter, and as a result I feel less safe following them.
The trick for me is to look down the road much further and anticipate traffic flows before they even happen. For example: ever noticed how during a traffic jam the traffic always speeds up right after an off-ramp? It's obvious "herd" behavior. "Oh - more space! I'll floor the accelerator to prevent the person beside me to merge into my empty lane!" Then everybody reaches the on-ramp of that exit and there's mass braking because the traffic bunches up again. Just that observation saved me from a few accidents already.
Of course, it helps if you're actually watching the traffic instead of planning your evening...
Drafting comes naturally to me now, and I use my wife as a "safety gauge". She tenses up when it's unsafe - for her.
Four cra lengths has always been a pretty good distance to me, but I get closer when the truck driver seems to be driving attentively.