I’ve heard of intrepid, like you,
But trepid alone I don’t do.
It sounds so conceited,
My tongue has got pleated
Trepidation feels like a left brain flu.
It depends on the context,I suppose.
Like weeing or picking one’s nose.
It depends who you’re near
And on your fear.
Be trepid and keep your eyes close.
How my heart sings 
Certainly a legitimate word…..’trepid’….even though not in normal usage. 😉
I mis-read this as ‘tepid’ and thought ‘Katherine doesn’t do tepid verse’!
It’s curious that trepid is so rare, when compared with intrepid. I’ve used ‘trepidation’ to mean a lesser form of caution than fear, when describing cleaning the sensor of a digital camera on my website – I wrote “Sensor cleaning is usually approached with some trepidation (which is justified) and often with fear (which is not). ” I hope you agree with that usage.
Mike
I am laughing,Mike.Yes,I do think your usage is right and a little trepidation is useful when doing delicate tasks.I wonder if trepid is used more in American English.I have never seen it alone before.:)