It definitely depends on where you live, but it's gotten easier in the 8 years I've been raising kids as the pendulum seems to be swinging back.

Also, get to know your neighbors really well as soon as possible. There's a huge difference between "Oh look, some random kids are playing alone, how can their mom neglect them like that!" and "Oh look Suzy is letting her kids play outside, isn't that nice." (and yes it's nearly always the mom who gets judged for all parenting decisions; if you're male you will be praised for every tiny thing you do for or with the kids because expectations are so low for dads).