I've taken all sorts of dolls out from palm sized tiny to the half my size twins. I took out a full sized reborn when I needed to figure out what size it wore, preemie. I might have asked it if it liked any of the outfits but I'll do that with any of my dolls I take out. I have my doll I spoil but he happens to be a ball joint.
In all my doll walks I've only had one person complain and they were one of those people you could tell complains about everything. Everyone else seemed fine with it, smiles were brought to faces, questions were asked, business cards were passed out, and once I was paid to give a presentation on my dolls and all the other things that go on with the hobby.
I'd rather see someone mother a baby doll to death or a fur child than have a human child they aren't prepared for. If you want to carry a reborn baby around then do it at a level you feel comfortable with. You might meet some new doll friends that way.