I have that same fear when I'm walking around outside, it got a little better with a med increase, aside from that CBT is helpful. In reality, most people are too wrapped up in themselves to care about/talk about what other people are doing.
Even if they are judging or talking, that's their own issue. I still struggle with this some, but I try to get into the mindset of "so what if they're talking about me or judging me", it's hard sometimes though so I understand