I was thinking, do you guys think that escort would agree to have a public action in front of few people. I didn't want to ask them directly so that they don't get offended

Some escorts are fine doing it public but I'll say that there's only few of them who offers this. You should definitely ask them first about this. 

They can do it in public but secretly though. I don't think about doing it publicly and with audience but you can always ask them about this. 

Of course there are escorts who are up for this service. Why don't you try and negotiate with them, just be polite I am pretty sure it'll be fine. 

The best thing is to ask the escort directly, some don’t mind, and as I say it’s always better to ask them about it first.
I’ve done it in public once but hidden, it was very exciting and pleasurable. 

I tried public sex with escorts before I remember her name's Nicole and she's so open minded which make it possible. There are a lot of escorts who are definitely up for this but better check it with them first of they're okay.