Set your focus to a fixed distance - 2 metres is a good street distance. Stop down to f/8 or f/11. At those apertures your depth of field covers roughly 1.5 to 3.5 metres depending on focal length. Everything in that zone is sharp.

Now you don't need to focus. Raise the camera, shoot, move. Or shoot from the hip entirely.

Watch for: your own feet in frame - a common hip-shooting error. Tilt the camera up slightly. Also watch for the subject drifting outside your zone. Stay disciplined about distance.

The point: removing the focusing step means faster reactions and less camera-to-face time. Less threatening. More spontaneous.