Earlier quoted context omitted.
No need to perish, current theories explain that the innermost region of a spinning black hole (all real world black holes spin) has a low gravity region where arbitrary navigation is possible. You can't escape, but you also don't have a death date with the singularity.
My layperson understanding is that collision with the singularity (if that even exists) is mathematically inevitable for an object that has crossed the event horizon. I think your scenario of hanging out within the event horizon and safely away from the singularity for indefinite time would require infinite fuel to counteract the gravitational gradient, or for even more fundamental reasons.
For spinning blackholes not to much. The singularity turns into a ring, the center of which the gravity cancels out.