My asthma has become a bit more than that in recent years but no, I have never had a problem using an inhaler in front of people, it is far less embarrassing than letting things progress into a full attack and dying, that screws up everyone’s day.
I live in Australia so there may well be stigmas about asthma elsewhere I don’t know about but here nobody has ever blinked an eye and I have never thought to worry about it.
I think this is a big part of it for me as well. When I was younger, I was a little self conscious about using my inhaler in public but the older I got the less I cared. Now I don’t even think twice about it. The hospital is no fun whatsoever.