Will not pee or poop in front of other animals/humans

Does anyone else have this issue? My 8 year old dog does not like to do his business in front of anyone (other dogs/animals and humans)! He stops in mid peeing/pooping if he catches you even taking a glance. I know that humans have issues, but never heard of it in animals. He has gotten a bit better about peeing outside. My brother and ex-sister-in-law potty pad trained him in their apartments. I started taking care of him after their divorce, and have some behaviors eliminated (scratching holes in a carpet, scratching up a couch). Note: He has lived with ex-sister-in-law’s cats and my other dog. I think he suffered from separation anxiety and with me being home for a year, that had helped with the S.A.