In front of family, absolutely not, their judgment matters the most and can have significant impact on everything.
It might even be the opposite. The judgment of a stranger, who i will encounter once for 10 seconds and then never again is completely irrelevant as it doesn't have any impact.
While I don't sing out loud at all or hum. Being free around others is strongly correlated to how big of an impact they can have on me, either financially, physically or mentally.

Sry, what were you saying? Could you repeat that while facing me and almost yelling. Your words were completely indistinguishable from general background sound, ADHD side kicks in and i zoned out.
Or just nod and pretend i heard.