Can you fly over people?
Not over people who aren't part of the job, as a matter of policy. The FAA does allow flight over people, but only for aircraft that qualify under one of four categories based on weight, impact energy, and certification. Almost no professional mapping or inspection drone carries those qualifications, and any operator who tells you otherwise deserves a follow-up question.
So we solve it the way working operators actually solve it: flight planning. Site control, timing, and buffer distance keep the aircraft off uninvolved people entirely. On an active construction site or an occupied HOA property, crew and residents are briefed or the flight path routes around them. That posture is why this rule has never cost a client a deliverable.