IOf the breastfeeding mothers would display a little restraint, common sense and respect for others, there would be no problem & breast feding could go on unimpeded.

This is not always true. A while back at a restaurant nearby a woman was breastfeeding in a very discreet way (that was never debated) and she was still asked to leave. She was out of the way and covered up.

It is purely social convention that makes it taboo and that would take time to change but change it could. DtG compared it to defecating in public, I don't think they are quite the same.