Leaving the house with baby

Do any of you feel stressed out when leaving the house?? Im always so stressed out lol getting her diaper bag ready and feeding her before we go and then by the time we get to where we want to be, its almost her nap time. I dont want to keep her napping in her bucket seat for long because im scared of her head shape getting flat. or when we're at the in laws, her naps arent as long. How do you guys do it??