FWIW, I have changed oil (and/or) transmission fluids in Walmart parking lots, Hotel parking lots, car parts store parking lots, rest stops along interstates, etc., not lately, but when I was traveling a lot for work, yes. I changed out intake manifold gaskets in back of hotel parking lot while a registered guest. Finished car before check out time and drove it 300+ miles home on Sunday. I always stay well out of way of traffic (like next to garbage dumpster) or an unused corner of lot. I pick up everything and leave NO trace I was there.
Several times, people have asked me if I need help, no one has ever been rude or unfriendly to me, and I am always dressed for the occasion with gloves and coveralls, paper towels, funnels, drain pans with lids, etc.
Sometimes you just gotta do what you gotta do. I BITOG maintain my vehicles and yes, I have everything with me that I need. My trunk is better equipped than some tow trucks.