I sympathize with any dilemma caused by being in public. I don’t know how it is in bigger cities, but I live in a small town and the “handicap access” is mostly lip-service. Just because there is a handicap parking space doesn’t mean the sidewalk or path to where you are going is all that accessible. Sometimes the spaces are on a slant. There are very few spaces atthe local movie theatres.And so on. And so on. Quite a lesson really.
Luckily our favorite restaurant has a handicap bathroom with grab bars, and although I was concerned about the low toilet, I could get down to it and up from it. My sympathies whatever your and our difficulties are “out there”.