I live in a rural area, so the likelihood of finding an escort really close is pretty slim anyway, but two of the SPs I often see are in town and only about 8 miles away, so the main danger is the car being spotted when parked, but as it is the local town, I always have a plausible excuse about a bit of shopping.
Going back some 20 years, there may be some of you who remember Newbury Massage. It was located above a, at that time, empty shop right outside the parish church with access almost directly onto the busy shopping street. My concern wasn’t going in, but coming out and bumping into a neighbour shopping, particularly as many people – including the vicar – knew what went on there!