I couldn't address Parker that much. I haven't been back there since before I was a gun owner. It's pretty low-key, so you may be just fine. When going for groceries, I advise going to King Soopers if you can. They're the local part of Kroger, which has long ago told the MDA to go away with their no-gun-policy drivel.
If you carry in a restaurant, the owners may or may not let you. That's a highly personal issue for each one. I highly advise staying out of any area that is primarily alcohol-related (liquor stores, bars, including the bar areas of restaurants). While not illegal, the chance of somebody getting too nervous is very high. I've OC'd in many restaurants, but so far none have kicked me out. I do some research on each new one, to ensure they don't have a "no guns" policy on their website or a sign on the door.