No problems with other people. We have mostly stopped nursing in public because DS is too big. Meaning half of his body ends up on the table at restaurants, or in the lap of the person next to us on airplanes, etc. He is 3yo and we still nurse where we can be comfy (at our house or friends' houses) if he asks, and if there is emergency comforting that needs to take place (a fall at the playground or accident of whatever kind).
We never covered for other people. I have covered to keep my boob and his tiny face from getting sunburned though!
Nurse on mamas!