She has a point.
Two germane observations:
There is a pub called The Westminster Arms. It's on a side street by the Abbey and it is a pretty popular pub for any local workers plus the MP's that don't mind mingling with us unwashed ones. Since it is small and non-smoking, there is always a crowd outside. The street it is on is a shortcut that the Queen's driver uses to head west. Several times I have seen her or Prince Phillip stopped in traffic outside the pub. They usually give us all a wave. No police outriders, no convoys, no road closures. She's just sitting in the back of a Bentley with one maid and one guard.
The first visit of Obama to London - his security team laid out what they needed. Road closures, crush barriers, a massively elevated police presence. They were very politely but firmly told to Eff off. The funniest bit, of course, was that, since they were staying in the palace itself, all of the Secret Service agents had to turn over their weapons. The right to bear live arms in the presence of the Royal family is a massive privilege. Not one that any member of a foreign power is granted easily - I can only think of two (off the top of my head) who have the right to be armed in her presence.