How to manage getting out vs. naps at home

How do you guys manage wanting/needing to get out of the house vs. letting your LO nap at home? I need to get out but it makes me anxious that I’m going to miss his sleep window and throw things completely off for the day. He’s not the best napper, but I feel like if I’m consistent at napping him at home he might get it. I also need to have somewhat of a life though too. Any input is appreciated! TIA!