If I could have one criticism of Sesame Street, it's that the Muppets didn't appear in the street scenes enough -- to steal a clip from LittleJerry, this is one of my favorites:
This kiss for little bitty Ernie... ****!
Heck, so much of the early years is unknown that maybe there was more stuff like this.
Edit: Or I at least feel like there was a division: it was commonplace to see characters like Big Bird, Oscar, Elmo, Abby, Baby Bear, Zoe, Rosita, etc. on the street, but more of a rarity to see Ernie, Bert, Cookie, Grover and others.