Also like you ask there's no harm if public key in known. So why to hide it? I know this BUT it wouldn't hurt to conceal it for privacy reasons does it?
I fail to see privacy improvement when you use P2PKH, P2SH-P2WPKH or P2WPKH address though.
See if the bitcoin devs didn't care about it they wouldn't introduce Taproot which essentially enables multi-sig wallet to conceal their pub keys and aggregate them into 1 key and no one can find out the real pub keys which is great IMO and helps in privacy. Even no one can find out if it's the multi-sig tx or single sig 
Taproot isn't only useful for privacy though. It also reduce transaction size and allow more complex script since taproot don't need to reveal whole script/all ways to spend the coin. But technology which mainly used for privacy (such as confidential transaction) never implemented on Bitcoin.