In a previous relationship, there was no road head, but a few times we were talking while on the road, working ourselves up enough that we had to pull over to take care of our needs. Once was in some random neighborhood, parked in front of someone's house, but fortunately no streetlamps to give away what we were up to.
Another time it was broad daylight, and I got her so worked up and horny that we pulled off into a highway rest area, parked in one of the first spots (far away from the other cars parked next to the restrooms). I went down on her while she reclined in the front seat, my legs outside the passenger side open door. Ove she had an orgasm, it was my turn. Since we didn't have condoms on us, she went down on me until I was ready to blow. I turned away and spewed out the door onto the ground next to the car.
From that point onward, I always had at least one condom on me whenever we were going to get together. Those just-in-case condoms came in handy multiple times during our time together!