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Zaney, welcome to the forum. This is the right place to post this question. To tackle your second question first, no, I don't think there's anything obviously illegal about what you're describing, assuming both participants are willing adults, fully clothed and nothing explicitly sexual happens. I suspect a police officer could find something to object to, but it would be a stretch and he'd probably just warn you.
To tackle the first question, I don't have any obvious suggestions for you, but I do have something for you to think about. This is simply my personal take on playing in public, and I'm sure others on the forum would disagree with me. The basic principle of bdsm is consent. All parties involved need to consent to what is happening. When you play in a public park, mall, or whatever, you are inherently involving those who have not consented in your scene; some who see you may be offended or feel violated (while others may not care, may be amused, or may be aroused). Your right to be kinky stops at my right to not be involved against my will. So my feeling about playing in a truly public space is that such play must be done in such a way that those around don't notice it or don't realize it's sexual. The moment they realize it's sexual, you've violated their right to consent before participating.
But obviously, the whole point of public humiliation is to have an audience for it. You want others to see your humiliation, because that increases it. So my advice is to find semi-public spaces where that sort of activity is tolerated or even accepted and encouraged. Those spaces are fetish clubs, play parties, fetish conventions, gay pride or gay leather events, and similar places and events. In these settings you are permitted and encouraged to indulge your kinks. If you can't find one, make contact with your local munch, get to know people, and then host such an event. Or just invite a few doms and subs over for the express purpose of smelling their feet and being mocked for it. Doms sometimes 'trade' participation in these sorts of games. Even if I don't share your foot fetish, as a dom I might let you smell my socks knowing that in a couple of weeks I'll invite you over to piss on my sub or something like that.
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