Done the restaurant washroom thing, kinda exciting.  
Just don't get thrown in the slammer!

In the water while a band was playing at the end of a dock.  It was dark but a lot of people saw us and it was pretty obvious what we were doing the way she was grinding on me, and that she was holding her bikini bottoms in her hand.  The funniest thing was the collective "meh" from the folks that saw us, they'd look over like "hey look they're fucking" and go back to watching the band.  They were pretty good.

And before anyone jumps on me yes, I know I've posted this story before.  But it's topical and happens to be one of my favorites so pttthhhh

More times than I can count lol...I dated a woman for a few years actually not too long ago who loved it...she would always want to go on a "nature walk", up against the car in the back of a restaurant parking lot, Sears center parkin lot and a Target dressing room once, never got caught but close...was even hotter because it was always her suggestion though I never needed my arm twisted lmao...sundresses make it a lot easier

Have gotten away with it...AND of course also been kicked out of quite a few places too!