I understand why we may have evolved to have the automatic, out-of-control feeling of embarrassed in some situations.
But is it useful?
Has being embarrassed ever helped you accomplish anything useful? We can (and should) work to eliminate it from our emotional vocabulary. If it's worth doing, it's worth not being embarrassed about. And if it's not worth doing, don't do it.
One reason to avoid doing something is because it leads to embarrasment. A better reason is because it's not the right thing.