Actually, let me add something to this post. Worth noting: I normally do not use or need mobility aids, and I'm thirty three and look younger than that. But I do have a story that might be relevant here.
Back in November I was traveling for a meeting to my childhood city, and I got some pretty upsetting news. Worse, I had worn shoes I didn't wear every day at the time, and they had ripped some fairly nasty chafing sores in my feet, even with colloidal bandages everywhere. I wasn't really feeling okay enough to go to the meeting without crying in public in front of strangers I was trying to befriend, but I also didn't want to sit in the AirBNB with my coworkers and sob either, you know? I hate being vulnerable in public and this particular thing just made me feel insane and heartbroken and completely incompetent.
So I thought okay. I'm gonna go to a beloved museum. But I can't stand and walk right now. Everything hurts, taking a step hurts, because these chafing sores make wearing shoes really painful. There's no way I can go through a whole museum without making everything worse and winding up sobbing in a corner exactly like I don't want to do.
But museums rent wheelchairs. This one, I happened to know, would check one out to you for the day for free, as long as you showed the front desk your driver's license. And... well, I have been involved in disability advocacy for long enough that I would have told my friends to borrow a chair, right, because temporary disability from injury is still real disability. So I swallowed my anxiety and I limped up to the front desk when I came in, and I asked to borrow a wheelchair. (I don't know how visibly I was limping, but I would have been trying to minimize that, too.)
They just smiled, asked for my license, and then gave me one just like that. I tucked my purse in next to me, sat down, and wheeled myself off to go see the exhibits. No comment, no inquiry, not even a funny look.
I got to see the whole museum and take my mind off everything I was hurting emotionally from, without having to hurt anything more physically. It wasn't an empty museum, either—this one is a big museum, it's never empty—but no one gave me a second glance. It was good to use some muscles and skin that weren't sore, too, and I used up a lot less of my very limited ability to cope while also distracting myself a bit from how bad I felt. And I got to use a resource that exists to help people who need help, which means I got to be a number that will help justify the museum's wheelchair rental policy and its decisions to put copies of its display materials low enough to be used by other short patrons: other people using mobility devices, children, little people, all kinds of folks. It wound up being a sorely needed day away from my problems.
If you're scared about using a device full time, try practicing using one part time. Look into borrowing one next time you want to go to a museum or a zoo or a mall and just try it out. See how people actually treat you. Most of them are just going to mind their own business, same as anywhere else, and who knows? You might find out that there's a lot less judgement than you think.