I think removing the stigma and changing the law are both worthy goals, and that one can facilitate the other, but I don't think the stigma can ever be fully removed. Laws can be changed with a single vote, but cultural values never really go away; at best, they become fringe views, and even that usually takes a very long time.

All your examples are things you say are stigmatized, just not in certain circles. In other words they're actually counterexamples, unless you're agreeing with me and I'm totally misleading your tone. If the goal is for prostitution to be destigmatized only in certain circles, then we're already there. Mission accomplished!

It is a way for a society to condemn something

If there's a difference between society condemning something and that something being stigmatized, I'm falling to see what it is.

That has nothing to do with public perception which has everything to do with stigmatization.

The fact that you listed things that have historically been highly stigmatised because of the law is bizarre.

(Except jaywalking, not sure where that one is coming from)

All of those are/were stigmatized specifically because of legal status.

What are you even taking about, my man.

The law usually reflects what people think is moral. Not all people of course, but a critical mass. Smoking weed is still widely considered immoral. Drinking was considered immoral by a lot of people when Prohibition started, and it still is by a smaller but still substantial number of people.

Jaywalking is more complicated, because there was a deliberate campaign to stigmatize it. I can't recall if it was made a crime to promote the stigma or in response to it, but a sigma was definitely involved.