Are there are any security precautions in using ssh (or telnet, netcat or curl for that matter) to connect to an unknown service like this?
Yes. Do not connect with agent forwarding, as doing so would allow the server operator to connect to other locations as you. Do not forward environment information, though the typical ssh default is not to. You will likely leak your username. If you connect from an internet reachable host, and you made the mistake of not doing the first item in this list, they could easily connect back to you, not requiring any zero…
Just touching on this one part, the rest still applies, openssh does use fuzzing. [0][1] Both client and daemon are fuzzed using AFL, though it does seem to be on an ad-hoc basis rather than automated, but it generally happens before a new release.
Unfortunately, to run AFL on openssh, they do have to patch it a bit, so what gets fuzzed and what is released isn't 1-to-1. This is because the privilege separations tend to defeat methods of detecting most of those sorts of bugs on their own.
[0] https://github.com/djmdjm/openssh-fuzz-cases
[1] For example: https://cvsweb.openbsd.org/cgi-bin/cvsweb/src/usr.bin/ssh/ke...