Yes, it is a little advanturous but the road conditions has been greatly improved since years ago. It used to be just the first 44 miles were paved, but now I can tell you half of your trip would be paved road and the unpaved road is not that scary either. However, after Yukon River bridge, the part with paved road is worse than unpaved because there are so many pot holes.
This is just my experience, it is doable. I know that people like us probably would only go to Alaska once in a life time, so we do not want to leave any regrets. However, do what you feel comfortable with. If you decided to go, please rent a 4-wheel SUV and pump gas whenever you see opportunity on the road.
Hope this helps. Safety always comes first.