There's no risk at all if you're using your own allocated prefix, because those are managed by IANA/RIRs/LIRs to not overlap.

Incidentally, if you find yourself experiencing an RFC1918 clash, one simple way of fixing it is to use NAT64 to map the remote side's RFC1918 into a /96 from your v6 allocation. You can write the last 32 bits of a v6 address in v4 format, so this leads to addresses like 2001:db8:abc:6401::192.168.0.10 and 2001:db8:abc:6402::192.168.0.10, which don't overlap from your perspective.

(If you wanted something simpler to type you could put them at e.g. fd01::192.168.0.10... but then you do start running the risk of collisions with other people who also thought they could just use a simple ULA prefix.)