>>917716If you're going out into places where people will see you, you're not going out. Find a state forest or park. Google local trails and find one near you that's more than a one mile hike. Trails that are longer tend to have plenty people at their heads, but very few after the first mile or so to be seen. Then you're out and free. No one to judge.
Going out and being free is the exact cure for embarrassment, go and give no fucks OP.