" so people stare and I’ve heard comments of people passing saying “bit big for a buggy isn’t she?”
I think in this day and age you have to be a bit of a twat not to be able to work out why some bigger children may need to use a buggy. This behaviour says everything about those people and their lack of awareness. Their ignorance is only your problem if you take it on your own shoulders.
I think most people can relate to some extent with what you've written because we all have moments as a parent where we want the ground to swallow us thanks to our kids, whether it's the full tantrum in the aisle in tesco or intensly questioning other people in the public toilet about whether or not they did a poo etc but I can see why this feels very consistent for you and it must feel quite isolating at times.
When ds is kicking off and I feel eyes on me I try to remind myself that I don't know what they're actually thinking - they may be thinking about what a great job you're doing, trying to catch your eye to offer a nod of solidarity/ to see if they can support in some way without overstepping or just having a natural response to a noise they've heard. I know I've done all those things without ever thinking negatively of the mum or the child I'm looking at. I think as parents we put more pressure on ourselves pre-empting what other people might think of us than what we actually need to.
I think all you can do is plan your days according to your child's needs as best you can and accept that that's going to look a bit different from other families and that is okay.
I read a thing recently that really resonated with me that you can't parent well from a place of embarrassment (because then you're parenting for other people instead of for your child) and that's my new goal - to not give a shit what others think and to say that to myself when I feel under pressure/embarrassed because it helps me ground myself into whatever the situation is. Your only priority is your child. Everything else is background noise and you owe other people nothing.
You sound like a fantastic mum. Lean in to the fact that your DD has as much right to exist in any space exactly as herself as any other child or adult does. That means making noise, or self-soothing behaviours or mobility aids using space or whatever else.