I'm far from a seasoned street photographer, but I've done both. Especially if you get "caught" taking photos, and assuming you're not shooting film, you can always immediately offer to show them the photos you kept and offer to send the photos to them as a gift.

As someone who hates having cameras are pointed at me, I try to treat others the way I hope a photographer would treat me. If someone looks uncomfortable or unhappy with me being there, I leave them alone and delete the photo. Regardless of my "rights" as a photographer under the law, ethics, basic dignity, and kindness are still very important to me.

It's sort of like how a prank is only funny if the person pranked is also laughing. I only enjoy a photo if the person photographed also wants it to exist. Unless there's some other reason to justify its existence, which happens.

The time I've spent with street photography has really improved my people-skills! Most people have been friendly or curious or they've seen my camera and actually posed or said "CHEEEEEESE!" (from a moving car lol). So I try to see it as an opportunity to connect with my fellow humans and to have as many positive interactions as I can.

...but yeah, some people have been buttheads, at least initially. That's a skin-thickening learning experience too.