I regularly go into public with a portion of my diaper or pull-up being fully visible over my waistband and only my shirt to keep it hidden. I'm sure it has been seen a few times when I bent down to get something off the bottom shelf or reached up to the top shelf, but that doesn't bother me. I wasn't showing it off, I wasn't forcing them to see it, I was just living my life casually as if I didn't care what they think, which I don't.
I have accepted my diapers, and as long as I am not showing them off intentionally, I don't feel obligated to take extraordinary measures to be ultra discreet. I am discreet, and more so about padding than I would boxers, but we have to live our lives and can't be overly burdened by worrying about how others will react or feel about finding out we are padded.
With that said, I am more likely to try to be extra discreet around family and co-workers than I do around strangers. There is a lot more to lose from making family or coworkers uncomfortable, and that adds value to making more effort. I have experienced being treated differently by cousins and other relatives after they spotted a diaper in my bag or poking over my wasteland. It wasn't fun and I regret not making more effort to be discreet.
We can't just hide out and avoid with world because we like or need to wear a diaper. I know I can't go without padding for any length of time without it causing me severe emotional distress. I wear what makes me comfortable, I do what I can to be appropriately respectful and discreet, and I don't let it ruin my life worrying about being caught.