1. An engagement system for inducing awareness in a driver about a surrounding environment of a vehicle using an augmented reality (AR) system within the vehicle, comprising: one or more processors; a memory communicably coupled to the one or more processors and storing: a monitoring module including instructions that when executed by the one or more processors cause the one or more processors to identify one or more potential hazards to the vehicle in the surrounding environment from sensor data collected from at least one sensor of the vehicle, wherein the potential hazards include contextual hazards that are likelihoods of risk relating to combinations of properties of the surrounding environment and positions of objects within the surrounding environment forming circumstances that define the contextual hazards; and an engagement module including instructions that when executed by the one or more processors cause the one or more processors to render, within the AR system, a display scenario about the one or more potential hazards by displaying one or more graphical elements that correlate with locations of the one or more potential hazards in the surrounding environment, wherein the engagement module includes instructions to render the display scenario associated with one of the contextual hazards by animating an undetected object according to a likelihood that the undetected object is present in an occluded area associated with one or more of the locations, and wherein animating the undetected object includes displaying the one or more graphical elements according to a type of the undetected object.