Not generally frowned upon unless in crowded areas.
I suggest looking for uncrowded streets if you can. It might take some time, but you could try to scout out routes to places you go commonly and figure out quiet streets to ride on.
Here is a map specifically for finding quiet streets to cycle on. Hit or miss depending where you are, but you can improve it by contributing to open street map.
Not generally frowned upon unless in crowded areas.
I suggest looking for uncrowded streets if you can. It might take some time, but you could try to scout out routes to places you go commonly and figure out quiet streets to ride on.
Here is a map specifically for finding quiet streets to cycle on. Hit or miss depending where you are, but you can improve it by contributing to open street map.