I agree with Beate (and others) - it's best just to deal with toileting assistance matter of factly.
My wife is incontinent and wears pull-up pants. She very rarely takes herself to the toilet, though will sometimes either indicate the need by getting a bit twitchy or sometimes goes in the loo but just stands there. So I preempt things by taking her regularly, which works fine at home but it's more difficult when out and about.
Our friends in our local pub are understanding and a couple of the ladies even try taking her to the loo but she very rarely "goes" when they do. It doesn't have a disabled toilet so if she does get twitchy, I have resorted to taking her in the ladies, prepared to deal with any embarrassment if someone else comes in.
Most people are very understanding and wait outside. I did have one young lady come rushing in the other Saturday night - I explained that I was helping my wife and she indicated that she was not bothered, needed a wee and carried on as if I wasn't there!
I said to my wife " see, that's what you're supposed to do!!"