Your S95 is better suited to stealth shooting than the P7100. Get one of those add-on grips and learn to shoot single handed without framing a shot. I say this as someone who has a G12 and shoots stealth street. Believe me, using the swivel screen from the hip looks far more suspicious by far. If you absolutely have to frame a shot, much better to learn to frame using the LCD at accute angles than flipped out. Basically, you shoot wide, close, and pay lots of attention to your timing and body postition.
It also helps to develop some techniques that allow you to shoot while looking like you're doing something else. I often walk through crowds with my camera in hand and held tucked into my body like I'm protecting it from being bumped. No one ever realizes that I'm shooting the whole time, they just think I'm holding my camera. Do a search on Youtube for Daido Moriyama if you want to see this type of shooting in action.
As for stealth street shooting, it's very much a legitimate style of shooting and far from being creepy. Personally, asking people to take their picture isn't street shooting in my book because it corrupts the natural flow of the scene and thus the pictures become somewhat of a lie. YMMV, but once the photographer interferes with a scene, then that scene is dead as far as I'm concerned.
With a liitle practice you can get some wonderful shots.
More if you're interested:
http://www.flickr.com/photos/emasterphoto/sets/72157626572625744/with/5959906319/
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http://www.emasterphoto.com
http://www.flickr.com/photos/emasterphoto/