Some diesel in a petrol isn't a massive problem, it might smoke a bit since a petrol engine won't burn it properly due to lack of compression. It's the other way round that can be a disaster.
Not always, it depends on the age of the vehicle.
In - properly - cold countries you would routinely add petrol to diesel to keep it from waxing/freezing in the depths of winter, the owners manual used to specify the tollerences for doing so, but it’s not like people were overly bothered about getting the ratio exact as it was that cold. Also Having known many diesel owners who’ve filled with petrol and driven it till it stopped, it was usually just a case of draining the tank/lines, new filter and re-prime the system.
As to petrol in a diesel it’s a similar story, if it’s literally a few litres, then in the past you could neck it with petrol and keep filling the tank regularly. More than that and it’s drain/new filter/prime again.
Newer engines combined with technology like catalytic converters and other cleaner technologies mean you don’t want to do this on a more modern engine, but prior to 2005-2006 this was common practice.