[RET_COP]

I'm not taking the chance of a child getting burned by the pipes. It sounds like a lawsuit to me. Not saying a good lawsuit but you know how that goes [Most of us don't have shields].
Stay with the car until the pipes are cooled or buy some nice welding blankets and cut them to fit nicely over the pipes until they cool. That's what I do anyway. It also makes for some good questions and conversation.
As far as parenting and kids at car shows. Ive seen out of control kids and bad parenting but even with good parenting kids make stupid decisions when the back is turned, been there.