You triggered a memory I haven't cherished in years, so thank you for that. ?
To answer your question: Sort of. I arrived for my first meeting with a domme, but her dungeon had flooded so we took a cab to another dungeon. Once in the cab, she whispered instructions in my ear while she loosened my belt a notch and pulled my dress shirt out of my pants. When she opened my zipper with an audible ZIIIIIP that made the cabbie look up, she then made meet the cabbies eyes in the mirror as she pulled out my cock and balls. She spent the rest of the ride waving her hand out the window at imaginary acquaintances, while waving my dick in time using the other. I'm pretty sure the cabbie either never picked up on it or maybe didn't care.
As we pulled up to the location, I remember being worried about the impossibility of tucking every aroused thing back in without making a spectacle of myself. Not a problem. Firmly "guided" out of the cab by my dick, I never got the chance to try, and wound up walking, arms folded, with everything still hanging out and perilously covered by my shirttail. I say perilously because, with a little hip tilt I could walk without any "imprint" showing through my shirttail. If I started softening even a bit, it would created a tentpole situation walking down the street in midtown manhattan. Fortunately, mistress was negotiating the scene by whispering the things she intended to do once we were inside.
Once we got through the door, I felt victorious. Mistress gave a look to the dungeon's receptionist before lifting my shirttail and exposing me. I've always thought she looked impressed for just a second before giving me a "Not Impressed" look. The session that followed was intense.