My little dd will be 24 months old in about a week. If she needs to nurse, then she gets to nurse. Period. It actually doesn't come up very often while we are out and about, but when it does, I don't do anything differently as a result of her age. She nursed at the San Diego Zoo when she was 22 months, and I was so busy looking at her, and the animals, that I didn't notice if anyone was giving us funny looks. Just yesterday, she nursed at a restaurant, and if we hadn't had that option, we would have had to leave.
I like to be discreet, but I won't go out of my way just so some one else won't be "offended." I don't do blankets (dd won't let me anyway), but if someone other than dh is right next to me, then I'll turn my body away just long enough to get her latched on.