Can I visit a malicious website by using Tor with settings set to safest or by using NoScript on an ordinary browser with settings set to untrusted?
If not then is there any way to visit a malicious website safely?
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Note that Tor on its own only provides anonymity, privacy at the ISP-level, and censorship resistance. It does not inherently resist malware or protect you from malicious sites. That is up to the browser.
You could use Tails which includes Tor Browser and is amnesic (any data on it will be lost on reboot). This would make it more difficult for malware on a malicious website to establish persistence.
My recommended keys to visiting untrusted or known malicious websites
Yes, there are safer ways than just using tor. A possible malicious website could have RCE on your Browser, and could have access to your host by running shellcode, considering you don't share any password or cookies with the website, that is the best it can do. Make sure to not give away your ip with either tor or a vpn service, I recommend using both. It will keep your other open ports hidden for such attacks.
You can run a virtual machine with where you are running your browser on, if you can not run a seperate host completely, hence that is what I recommend. It will put a layer of VM between you and your host, giving the hackers very very low chance to reach your host, considering they need RCE on browser + RCE on your VM application.