Hello jms. Initially it can be rough, but it does get better over time. Gradually the initial feelings of embarrassment, or shame that most of us have experienced evolve into a realization that our medical condition is not under our control and that we are not responsible for it. Perhaps it is a combination of becoming more "hardened" about such matters, plus learning more about how to live with it with less fuss and bother.
It is likely that, slowly, you will come to a more positive acceptance of the fact that you had to cope with your incontinence and have done so effectively. From what you said, it sounds like you are doing fairly well.
I can say that I have reached a stage where I no longer feel ashamed or embarrassed about the fact that I am incontinent. However, my incontinence, and how I choose to deal with it, is a very personal and private matter that I do not wish to publicize. I would not discuss my underwear or bodily functions in a public forum either.
Although I have accepted my incontinence, I still would be very embarrassed if I had an accident in a public social situation.
--John