Obviously you do care what people think of you, because you like making your old friends and the public uncomfortable....
I can't help feel sorry for the people that are forced into playing a game they didn't sign up for.
Public play can be done if it's done tactfully and in the right places, at the right times.
I personally would be very upset if I had my children in the mall while people were playing their kinky games. Though it is nearer to Halloween so hopefully that would be an easy way to explain it.
Maybe playing with your leash in not such a public place, or perhaps in a different area/time would be another possibility.
Again, this is just in my opinion.