When I was a baby and toddler no it was not embarrassing to have my parents change my diaper as I felt no embarrassment.
If I were older and having my diaper changed from my parents then I would probably be embarrassed.
My own kids never seem embarrassed to have their diaper changed even when company is over.
My 2 year old has his diaper changed all the time in the house or at the park in front of strangers and relatives and he doesn't seem embarrassed.
He even runs around the house in front of relatives or my friends when wearing just his diaper.
If he were older such as 5 or 6 years old and still running around in just diapers around strangers and relatives and having his diaper changed around other people then he would likely be embarrassed.
The last time I had my diaper changed was when I was 3 years old and not potty trained.
After I got near 4 years old I was out of diapers full time and in panties and using the toilet and no longer needed a diaper change.
So the last time someone changed my diaper was many years ago when I was almost 4 years old and still in those old pampers disposable diapers.
I remember hating to use the toilet but also hating to wear diapers.
I remember as a 3 year old running away from my mom or dad when they told me it was time for a diaper change.
I would see the diaper in their hand and then take off into my room.
My parents always caught me though and changed me.
The oldest I've changed diapers on was my youngest son who was 3 years old and he finally potty trained at almost 4 years old too.
I still change diapers on a 2 year old son I have and will be changing his diapers for awhile now.
My kids always just potty trained themselves.