So I made this little chart that hangs from our rearview mirror. The top says “Total Trust” with a big smiling face. The very bottom says “Loss of Trust” with a very upset face. There are varying faces in between. When we get back from a public excursion, I move the arrow up or down depending on how they did and we talk about what they did well or what they need to do better next time.
I have liked how this enables us to talk about behavior before and after we go to a public place. I think they also like the feedback about how they did (hopefully its mostly positive!).