Reaching out to exes: yay or nay?

I've had a toxic on-off relationship before, so I know why it's generally a bad idea. But my other ex was never toxic in this way, and we recently ran into each other. He said "don't be a stranger!" as I was walking off. I don't even want to necessarily get back into a relationship with him, but having a friend to talk to and catch up with might be nice. Should I reach out and "not be a stranger," as it were? Part of me is like yes, you're overthinking this due to your social anxiety. But the other part is like no, you idiot 😅