There is some truth to that, but it also depends to some extent on who and where and when. Louis XIV, for instance, was a rampant egomaniac, exhibitionist and voyeur who thought absolutely nothing of doing his personal business in public and watching his mistresses give birth - and didn't care that his fancy palace of Versailles had NO bathrooms.
Public baths actually existed, and were used, in England down to to the 15th-16th century (a few were left over from the Romans, more were built by returning Crusaders who had gotten into the habit of warm baths and wanted to keep it up). They got a bad rep as brothels, but it took Henry VIII to shut them down for good. (Or at least for 300 years - the fashion snuck back in circa the mid-19th century from Turkey, hence "Turkish baths").
As for eating with the hands - yes and no. Everybody had eating daggers and spoons, and I can say from personal experience that it is quite possible to manage with just those utensils.