Parents always feel guilty in public spaces when their children cry, speak loudly, take a long time to do things, make a mess, drop stuff, bump into stuff, etc.
This guilt is misplaced, however. People react with frustration and annoyance to children who are of the same age they were when they sustained their most lasting traumas. Those who are driven up a wall by a crying infant suffer from traumas of infancy. Those who detest seeing a toddler covered in food and throwing toys around were traumatized as toddlers. People who hate children of all ages experienced long-term abuse or neglect.
In short, don’t worry that your children are causing discomfort. They don’t have that power. The passerby who is cringing with irritation at your toddler would feel the exact same anger if you and your kid were currently on the beach in Australia.
Psychologically healthy people see your drooling 5-month-old, loudly singing 18-month-old and the question-per-second 3-year-old and feel tenderness and joy. Everybody else should be grateful to your kids for giving them an opportunity to recognize that they need help to address their childhood traumas.