Fetching details from the dictionary...

impudent; shameless; brazen; forward; audacious; cheeky
何度も借りに来るなんて図図しい人だ。
It's shameless of them to come borrow things over and over.
招待もされずに来るなんて、本当に図図しかった。
Coming without even being invited was truly brazen.
お願いするだけなら図図しくないと思う。
I think just asking isn't being shameless.