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Don't share your own or other people's personal information on stream or in a public Discord. Mute your stream when you or others are saying sensitive information. Turn off the camera before reaching someone's home. If using a wide-angle lens be careful you don't show credit cards, IDs, or anything that could let viewers locate someone in real life. Be careful about sharing your location or the names of restaurants or other businesses you are currently in. Don't use real names or full names. While the majority of users will likely respect your privacy, it only takes one bad apple to cause trouble for you, so use common sense.
In case of an emergency, it's wise to find one buddy, perhaps a trusted mod, to share your contact information with. This way, if you accidentally leave your stream on, or have a medical emergency, someone can reach you. It could be a Google Voice number, but you'll probably want some way for someone to get in touch.
You can legally film anyone in public, which means anyone on the street or visible from the street. However, not everyone will be aware of this or agree with the law. It is up to you whether you want to respect someone's wish not to be filmed when they express it to you. You are not required to inform people that they are live or that you are broadcasting to Twitch. You will need to determine what is best for your stream, but please be aware that whatever you choose will affect how people view other IRL streamers, so if you choose to antagonize the general public, then IRL will become harder for everyone.
Streaming in nonpublic spaces is entirely up to whoever owns or controls the space. If you are asked to stop filming (by anyone), then you need to either turn the camera on just yourself (no one behind you), leave, or turn the camera off.
You can legally film anyone in public, as long they are not the center of attention (Main Characters) in your production. Be aware that people can ask to not be filmed, and you have to comply with their wishes legally speaking. Consider GDPR as well, if you can recognize a persons face on the video, they have the right to request removal of this video. (Recommend auto deleting VODS)
Most places will require permissions arranged prior to showing up. It is not allowed to film inside supermarkets, shopping malls or other private establishments without permission. It is also not allowed to film inside peoples private property if it is shielded from people looking in (Over the hedge shots, drone footage).
Meeting up with another streamer while they are live without prior arrangement is considered stream sniping. It's not a good idea and can create tension between streamers, especially if you don't already have an off-stream relationship. Stream sniping someone to make them uncomfortable, feel unsafe, or to "prank" them is not funny and can be considered harassment, which might have legal consequences.
Arranging co-streams with other IRL streamers can be fun for everyone involved. You will want to be sure to pick activities that appeal to both your viewers, or consider being a non-streaming guest on the channel best suited to the activity.
It is considered in poor taste to promote your stream in another streamer's channel without prior permission. Many streamers have a promotion channel on their Discord, but become a member of their communities first and get to know them before immediately plugging your channel. IRL streamers tend to be very supportive of others, but it can rub people the wrong way and create a poor impression of you if you don't first put in some quality time in channels.
Being an active participant in other streams will allow you to naturally make connections and generate followers. Depending on the platform, when starting out, "hosting" or "raiding" small IRL streamers can be effective. You may also want to look into conferences or see if there are local streamer meetups in your area.
Viewers want to trust you. They want to know that you will be on when you say that you will, or that you will let them know somehow if you won't. They want to trust your stream title and know that things you promise will actually happen. Think twice before betraying that trust.
Consider keeping your community informed by creating a Discord server and linking to that via the about section of your page and/or a command. Viewers can join and be alerted of when you go live - and interact with you and your community when you are not streaming. As you continue to stream, you may find a certain schedule works better for you and/or your audience. If so, you'll want to make note of that schedule on your channel page and in your Discord.