Is It Islamically permissible for a woman to go out of her house without a mahram male guardian?

There is no objection to a woman going out alone for her needs if she is safe on the way, provided that the leave of her house is not set on a traveling journey, as the women of the companions used to walk to the mosque and come to the Prophet, may God bless him and grant him peace, to learn and asking him questions, and they did not have mahrams with them.
Narrated `Aisha:
The Prophet (ﷺ) said to his wives, “O women! You have been allowed by Allah to go out for your needs.”