Severe anxiety about leaving house

My baby is about 4 months old and I can't shake the anxiety about going out alone. It's just so much preparation work and I dont have accessible areas close to my home (need to drive at least 15 minutes away)

Can someone help me and give me some steps to get out ? ( Lol no pun intended but that worked like that )

Like actually what to do, where to go, what to do if baby starts crying ,I need help . Thank you