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I love pulling it out of my pants and playing with it in the car. I love it more when I can see people and they do not know what i am doing. often i will make eye contact and this turns me on more.
This can take your attention off the road as is unsafe, especially (as you stated) with others around, so close that you can see their eyes.
If you were involved in an accident and pinned inside your car, it would be very embarrassing if others attended to you for help, and saw your pants half down and your hand on your member.