No way to asking to go in a customers house for anything less then an emergency.
I shit myself at an estimate years ago. I got sick to my stomach on my way and by the time we were in the yard looking at the tree, I was holding back a complete catastrophe. The homeowner had a small bichon or poodle on a leash and it was a hyper case, jumping and pulling every which way. It darted around my leg, tangling me in the leash, and jerked me. I got knocked slightly off balance and lost control and shit myself. Yes, it was loud enough and clear enough that the customer heard it. The Customer went silent and got bug eyed, I ripped a copy of the invoice off and literally just took off at a brisk walk to my truck without saying a peep. There was a voicemail when I got home giving me the go ahead.
Shit happens.