The little man's needs vs. mine

Of late, I have been questioning my parenting skills. I know, big shocker for some of you out there that may question them already, but I really have been wondering, at what point is it completely necessary to put my child's needs before my own? I mean don't get me wrong, they are demanding little things and as such, their needs are met far more than mine are on a daily basis because as a mom, like it or not, our lives revolve around the little people in our home, right? But how about the times when I really want to go hang out with my mom and sister and it's right at my little man's lunch/nap time. Is it bad that I scoop him up and drag him with me anyway, completely unfed. And what if he falls asleep before i get to the restaurant that's 25 minutes from my house where I'm meeting them? So i carry him in over my shoulder and find the largest booth in the place, have the waiter wash the seat cushion and then dry it (see, I am a conscientious mom) and lay him down while the three of us leave to get in line for the salad buffet.
So what if he never wakes up to eat lunch and I let him sleep because it's kind of nice having a quiet peaceful lunch. And what if by the time we leave, because he still hasn't woken up, I just sneak a breadstick and a blueberry muffin from the buffet and hide them in my sister's purse in a napkin for the little guy to eat later while we're shopping? (Again, thinking of him as I wrap the strictly carb only meal into the napkin.) So, off we go shopping and he stays asleep from the restaurant to buckling him back into his seat, driving to another store, and unbuckling and yep, still asleep so I find a blanket in the back of the car and line a shopping cart with it because once again, looking out for his comfort! And okay, maybe he doesn't quite fit into the shopping cart, but he stays asleep. And he sleeps through most of the shopping trip until he happens to wake up while he's in the handicap restroom with Nonni using the restroom. Probably a rude awakening, but the little bucko got a full nap and mom had a fun day with her mom and sis. Everyone wins, right?