I don't do a lot of people shots, candid or otherwise, but I have managed a few that I'm happy with. All three of the following were shot from the hip (literally), while walking, phone by my side in one hand and bluetooth trigger in the other.
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The first image gives me problems. I think it's the best of the three, but it's also the most invasive. Legally, I had the right to shoot and publish it, I think, because I was on a public street (literally, in the crosswalk) and they were in plain view. But I never posted it anywhere but here and never entered it in any competition because it felt rather creepy to do so.
The second image, no ethical or legal issues. She's a street performer, and she saw the version I posted on Instagram and liked it. (I included her Instagram tag and credited her by name). I never entered this one in any competition because it's quite severely cropped (due to being shot off angle) and the image quality isn't up to competition standards. I didn't really need to shoot this one on the fly -- I could have stopped and lined it up properly, although that might have caused her to look up, which I think would have been a loss for the image.
The third image, also no problem -- a street performer and a guy taking a photo of a street performer. Again, I could have stopped and possibly gotten the shot -- or possibly missed it in the extra couple of seconds it would have taken -- but I was walking by and just snapped it while walking (like the previous two). I did enter this one in a competition or two, but it never got a nibble anywhere.