Here's my partially-informed opinion. I think the above is true for the previous generation of prostitutes. You're speaking in the context of girls on the street and girls in truck stops, probably with pimps. Nowadays, it's all online advertising. No one stands on the street corner anymore. They practically have Yelp reviews. I persononally know prostitutes (both female, and male) who are happy with their choices and who make more money than I do working construction. (No, I have never solicited their services, nor that of any other prostitute.)
I'm not saying women have not been subjected to the conditions you describe. Certainly they have, and their experiences are valid. I'm saying the market is changing with technology. Like with most any profession, be your own boss if you want to make the real money.
As for the original question, I honestly would not worry about it. In keeping with your euphemism, my "rig" has been "rocking" at all of the aforementioned locations. I don't know that there is any legal precedent for claiming that's public indecency, when you're in a closed vehicle. In fact, that's rather the idea of a privacy wall in a limo. If a cop pulls over the limo driver, he has no right to search the back quarters if they're not in plain sight.
Once (only once!) I did have someone object to "rocking" of my "rig." It was summer, and hot, and I had the windows open, and I suppose noise was evident, and a passerby voiced concerns. I conceded with her perspective rather than make it an issue. Drove two streets over and resumed. As far as I know, the only law I broke in that time was driving barefoot.
