What does your QRH non-normal checklist say? Ours (744) says not to open any cargo door until all personnel have exited the airplane. How you you know there is no fire? maybe there was/IS a fire, and the fire suppression system is [for now] successfully doing its job.
Which option carries the least risk of injury to the passengers?
A long taxi followed by a normal exit would probably not be a good idea, but an evacuation also carries risks.
I would suggest that taxiing off the runway and evacuating on a nearby, clear area of the ramp or taxiway would be prudent. If a fire DOES flare up when the cargo door is opened, do you want to be at the terminal?