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.... and we are
only talking millivolts here
Nope. You may have volts and amps confused. It takes about 500 volts to see a noticeable static spark. 3500 volts to feel it. Rubbing nylon clothes across typical car upholstery can generate 12,000 - 20,000 volts at 50% relative humidity. Less humidity=higher voltages. 20,000 volts can create a spark about 1/4" long. Sliding your butt across your seat and touching a freshly filled fuel container can produce a 40,000-50,000 volts spark. Obviously the amps are extremely low (perhaps 5 milliamps).
In theory, there is no difference between theory and practice. In practice, there is.
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