Yes.
Once more its important to remember that lucidity is not an all or nothing thing. Even in one lucid dream it's quite common for awareness of dreaming to fluctuate a lot, with moments in the dream having a very high lucidity, and moments in the same dream having a low lucidity.
Additionally, "delusions", "faulty conclusions", "illogical thoughts" are still quite common in lucid dreams. It's perfectly possible to not be scared of the big nasty dinosaur that's trying to eat you because you know it's only a dream, yet at the same time think you have to rescue your favorite doll from being flattened under the dinosaur's feet when it charges 
So yes, it's possible to have moments of embarassement during lucid dreams, just as its possible to have moments of confusion, fear, bewilderment and what not.
Just my 2 dreamcents,
-Redrivertears-
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