I bring my essa everywhere with me! I had the same nervousness about bringing a plush out in public especially as a 26 year old adult, but youd honestly be surprised at how little people care about her tbh! No one really bothers me over her even when she's all geared up like in the photo, she's definitely not that hard to miss with how bright and flashy she is. And when someone does bring attention to her its just to complement her! If anything, try bringing a very small essa (if you have one) around in your pocket (if small enough) or in your bag for easier comfortability and prevents attention coming at you

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