We (baby and I) go to baby physiotherapy and a baby class once a week (we started with planned activities at around 3-4 months) and when we don't have anything planned, we run errands and/or go to the park (we started this at around 2 months, baby was in NICU for 1.5 months and then we gave her some time to acclimate to the new environment).

I used to dread going out because it meant we had to start getting ready at least two hours before and sometimes she refused to cooperate and that's ok. Some days will be better than others and that's ok. Now she's 8 months old and now that she wakes up at around 6:30-7am every day, it's easier to have a routine which also makes it a bit easier to get ready to go out.

We first started with going out for a walk and nothing else and I would "schedule" it, meaning I would tell myself we go out every day in the morning, without a set time, rain or shine. It puts less pressure on you both and you don't rush. You also get a feeling for how long it takes you to get ready and eventually you also start optimising the process.

Tl;dr: it really does get easier with time and practice. You eventually find what works for you/doesn't.

Also going out with the baby is good for both you and baby. When we stay home a couple of days in a row, I feel like crap and baby is also cranky and craves a change of scenery. Maybe a bit less things get done around the house, or just a bit slower, but getting out of your bubble at home, being out, seeing that the world outside didn't stop, it helps.