"I don't know if most radiohead fans already know about this but this could go into your description of "nothing to fear". It has big references to Dante's Inferno. Here is a reference for every line:
~(I jumped into the river black eyed angels swimming with me)
Apparently this is Thom repenting perhaps (I didn't know he believed in God) for in the Inferno you enter the first circle of hell after the Vestibule. The River is Acheron. The black eyed angels are demons. I think this is here just to let you know that Thom is in hell. Not literally, i think he had some wierd dream or is a big fan of the Inferno, i don't know.
~(A moon full of stars and astral cars all the figures I used to see)
This is where it gets interesting. The last two lines of the Inferno are "The beautous shining of the Heavenly cars. And I walked out more beneath the stars." Thom's lyrics are from the viewpoint of Dante (the writer of the Inferno) because it is when he comes back to the surface through the mount of Purgatory, returning to the things he "used to see".
~(All my lovers were there with me All my past and futures)
All the lovers of Thom that he has apparently seen on his voyage through hell. He is placing himself in the shoes of Dante. The past and futures part is interesting because the sinners of hell can see into the past and future but cannot see into the present.
~(And we all went to heaven in a little row boat)
Lines 130-135 of Canto XXXIV say right at the end before Purgatory: Down there, beginning a little further bound of Beezlebum's dim tomb, there is space not known by sight, but only by the sound of a little stream descending through the hollow it has eroded from the massive stone in its endlessly entwining lazy flow (There was nothing to fear and nothing to doubt) Dante is scared at the end of the Inferno, we can see here that Thom isn't."
Here with the video below we can join this astral travel:
Sources:
http://www.greenplastic.com
http://amazon.com