As said above it depends hugely on the child. People judge the hell out of my child. I do my best to be a good parent, i.e. connecting emotionally with DS, giving him firm and consistent boundaries, not shouting, giving lots of positive reinforcement, and doing what I can to keep him amused in situations like doctors' waiting rooms where he wants to be somewhere else.
But DS probably has ASD.
He only learnt to sleep more than one sleep cycle at a time aged 2.3, so up to that point was quite screamy when overstimulated because he was permanently exhausted. He was also permanently on edge, overstimulated, frightened of other (rough, loud) children, so "unsociable" in not playing with others, and liable to melt down at any moment because he was so on edge. People at playgroup thought he was a spoilt little s**t. In a quieter environment with lots of structure and strict behavioural expectations of all the kids (Montessori kindy), he's still not very sociable, but he's happy and relaxed and pootling around doing things and watching the other kids. Looks like a completely different child. Staff think he's delightful and laid-back.
Another example: he has oral aversion so can't eat texture and has difficulty with other things, so I let him watch TV while he eats so he doesn't think about the food and gag on it. Grandparents think he is a spoilt brat around food and enjoys having power over me. Actually, I think it's completely reproducible that if you force him to eat unfamiliar food without sufficient distraction, he gets distressed. And if you solve it (blend the food, and/or distract) and treat him gently, he's fine.
Likewise waiting rooms. People stare in judgement as I quietly, desperately do the song and dance act with books, toys, phone, carrying him up the corridor to look at stuff, etc., desperately trying to keep him from melting down in frustration. Catsbumface old ladies tell me he should be able to amuse himself "at his age". I smile sweetly and point out he's tall for 2 and a half.
There's an immense amount of judgement out there. Don't add to it...