Yes I did get my diapers changed in front of friends, family etc.
No matter when I needed a diaper change the diaper change would be done in front of friends or anyone else.
I eventually got used to it and my friends never made fun of me for wearing the diapers or getting them changed.
I was mostly wearing just my plastic backed thick pampers and socks, shirt and shoes or just shirt, pampers and socks.
So I was always seen in just my diapers.