You are not alone! I have Muscular Dystrophy and use a wheelchair full time. I have a family and we do spend time with other families! In fact, we do everything that people do who are not in wheelchairs! Just yesterday we visited some relatives who have a child about the same age as our child; we took the kids swimming at the YMCA! (I did not get in the water this time, but they do have a chair lift, so I may get in next time!) After swimming we went back to their house, where the kids played some more and we had a simple dinner together before we had to drive home.
Having said that, I know that visiting people's homes can be a logistical nightmare! We deal with the issues on a case-by-case basis, depending on the non/accessibility of the home, attitude of the people we want to visit, etc. I have both a powerchair and a manual; I don't have a van, so I usually use my manual chair when I go out. So far, I have not done significant damage to anyone's house while using my chair (knock on wood). I have to wonder.....why does it have to be about the chair/disability? I once damaged someone's house accidentally (knocked a sink off a wall) when I was younger and did not use a wheelchair. My point is, accidents happen! With or without a disability! If a person cannot realize this, maybe it is not the right person to hang out with!
I do not currently have to deal with chronic pain or choking issues; someday in the future I might. I am sorry to hear that your husband has to deal with that. I can see how the choking could make him or others feel self-conscious in public, which could in turn make it more likely to happen..... If you feel uncomfortable eating with people you might try to cultivate relationships with persons who are more open-minded about such things, until you and they can feel more comfortable. Incidentally, I think I read once about a surgery that could possibly help people who aspirate their food, even if it is due to muscle weakness. I'm not sure but if it were me, I would ask my doctor.
I have heard of a support group for people with MD in the Tulsa area. I used to get invitations to their monthly meetings (which I think were on a Monday evening--not sure). I never went because I live over an hour away and we are busy. You can contact MDA to learn more about that. I am sure it is a great group; I would go if I were not so far away.
Some wheelchair friendly activities: museums, aquarium, some botanical gardens, some ballparks (especially new or newly renovated ones), zoos, parks, movie theatres, community centers..... I am sure there are others. If you are unsure about a particular place you can try calling ahead to see what you can learn. There is always some risk because there is no exact definition of accessible and it doesn't mean the same to any two people anyway! We try to be flexible and have a backup plan sometimes!
I do encourage you to keep trying to socialize as much as limitations allow. Of course your husband is worth knowing, and they will be blessed by the opportunity, and so will you! I just wanted you to know you are not alone! I know it is difficult, but keep trying!
Oh, one more thing, as far as the staring goes.....I have been stared at all of my life. I just try to ignore it. I figure it is their problem, not mine. Or that they are staring because they are jealous or think I'm pretty or something.....