There are many other great ways to meet and greet voters, distribute literature, etc., which DO NOT have the same access hazards.
Since it seems there are many RP boots on the ground in Iowa, go for state owned or local government owned properties whenever possible.
Private venues which work because no one is there to tell you to leave include laundramats.
Laundramats if worked properly, as a route, are a personal favorite of mine in non access states like Iowa (states which do not protect expressive activities on busy, retail properties). The person simply maps out a list of laundramats and works it like a cycle, going from one to the other then back to the first one, and all over again.
Public sidewalks are excellent, and no sane cop will hassle you there. Pick a main shopping thoroughfare.
If there are heat controlled walkways connecting malls or downtown structures so people can walk above the traffic from one building to another, explore this. Those spots are excellent. Usually, you can gain access but sometimes it takes a lawyer to get an injunction, so that might not work here, but our folks there can try it by simply asking (best place to ask that question is at the local cop shop, the ones who will be called in the event of any dispute...since the aerial walkways go over public thoroughfares---the streets below----a good argument can be made that they are public sidewalks, or that at least our expressive rights weren't waived when the "privately owned" walkway was built.
Post offices are out, by federal law, and backed up by courts...so too are courthouses and jails, essentially every other public facility, like big libraries, are wide open. Libraries can be cool spots if they are busy enough.
Most campuses, public or private, are wide open.
As for shopping centers, where the crowds are biggest, it is possible to work the parking lots and not be noticed for some time. Just work in the lots until asked to leave. Our troops ALWAYS will be asked to leave first. No sane cops ever will arrest a person before politely asking them to cease the activity and leave. If you map out different parking lots at the beginning of your day, you can go in a route from one to the next, going to the next only when you were kicked out of the former.