Am I the only one who hates leaving the house with my kids?

I seriously hate it. My kids are 3 and 1 and taking them into public is like torture. One of them is always crying or unhappy and making a scene. Sometimes they both do. I can’t relax. I can’t focus on whatever errand I’m trying to do. My husband always asks me “why don’t you go shopping?” when I’m home with them all day and I’m like “I cannot express how horrible that sounds to me.” Taking them to a park is really no better either because my 3 year old has the listening skills of a rock and my 1 year old just wants to sit on top of me and whine. So I honestly just stay at home 24/7 unless I can rarely sneak away when my husband is off and can watch them.