When does leaving the house stop feeling completely overwhelming?

I have a four month old and still struggle getting out of the house. Her wake windows are only 2 hours, or less. At least 30 minutes of that time is spent feeding, and another 15 minutes spent changing, etc miscellaneous required tasks. Getting her bag packed, changed, car loaded, and out the door, it feels like we have a total of 20 minutes out in public and it just doesn’t feel worth it. My baby can’t sleep anywhere other than her bed so if we’re late to nap time it’s a bloody mess. I see moms with much younger babies out and about and feel bad about myself. When does it stop feeling overwhelming? What am I doing wrong?