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What you ask for exists... somewhat.
Manfrotto made a shoulder bag with a zippered compartment for a tripod some years ago, but it only fit one of their own tripods properly.
Peak design lets you strap the tripod inside the top flat of their V1 messenger bag, and with their most recent messenger and sling they have provisions to attach the tripod case (their own, or someone else's) to the bottom. Placing the tripod in the case makes it less conspicuous. Some bags like the backpacks from Wandrd and Peak design let you place a compact tripod on the inside (I placed a big lens but ffold the top section and a tripod fits perfectly):