bit_user :
I do worry about the level of ESD protection on USB ports, but I try to ground myself before touching the device & haven't fried a USB port yet.
The first thing that should make contact with a properly designed USB socket and plug is the shield - pretty hard to avoid when the shield is what helps you line up the plug with the connector. If there is any ESD to discharge, that's where and when it should normally happen. I have never cared about ESD when handling USB devices, I have zapped my ports with static from shield to shield many times (my computer desk is on a synthetic fiber rug and I wear rubber sole slippers) and I have yet to kill any USB device or port.
If you somehow manage to insert the USB connector inside the plug without discharging ESD through the shields, the next contacts to close together are power and ground which typically have very high ESD tolerance, so I would not worry about those either.
I don't worry about ESD for just about any other external cable either since all of the standards that I am aware of are designed such that the shield always makes contact first under normal circumstances.