You are talking to the woman that went to a major kids fun day and complained as a South American band came dancing around the even with busty women in miniscule g strings and nothing more than coins on their nipples, one wiggle and you could see everything and it wasn't appropriate for a kids event. Yeah it made you want to dance but that is not what was catching peoples attention. Strangley the men in the same group were in knee length shorts and vest tops.
And lets be fair, most kids wouldn't know what gimp masks etc were. Or at least you would hope. And it has to be said my mum wouldn't either.
Most people at Pride events want to exemplify their core, Pride is built on visibility, safety, solidarity, and celebration. Everything else (parades, floats, music, drag, community stalls, activism) grows out of those foundations.
And I, and lots of parents on here have taken kids to Pride events in our area (mine is a major Northern City) to no ill effect, its about picking the appropriate bits, good chaperoning and I have always found that if there is anything slightly inappropriate for kids, the hosts and volunteers steer you off before you get there. There aim is not to shock kids.
Your experience clearly vastly differs from mine and many others