You could add interior shutters to the window facing the street, even doing just the bottom half would block most of the view. Or you could replace the window with one the same width but not same length and place it five feet off the floor for privacy. The privacy is easily addressed.

However, the driving issue will be cost and feasibility of adding a toilet waste stack. I just added a bath addition to the side of the house that had zero existing plumbing. I lost 6x6 " in the sunroom below for the waste stack to be added, is there room by your front door to add a chase for waste? I also lost almost an additional $10k to run the new plumbing inside and outside to my existing sewer line. Your plan will most likely in tale outside excavation work too. My drive and walk way needed to be replaced at another $10k because my sewer line to the road was under my existing walk and driveway. My driveway was at the end of its life anyway so this cost was something I needed to spend regardless of the addition but it would have changed my plans if it was a decent drive to begin with.

I am not saying you will have these identical costs. Yours could be much less to address adding plumbing where none existed before but it could also be even more...get a few quotes on both options and make sure it is permissible before deciding.

This could end up being more costly, but it would keep the plumbing at least in the same general area: Could you reorient the hall and master baths to run in the other direction, so the hall bath door would open at the narrow end of the bathroom, and then the master bath would run lengthwise along the wall that the head of the bed is on in the drawing? You could bump out into the master bedroom to widen the master bath maybe. Keep the master closest in it's current position. Just thinking outside the box here, sorry I'm not where I can do a drawing of this. Hopefully the description makes sense.