When mine was under 1yr I maintained his first nap of the day at home, a great 2hr nap in his own bed. After that it was car naps on the way somewhere or on the way home, or I'd have him in the sling (only when very young) whilst I walked etc. It wasn't perfect, he lost sleep, but on balance I think it was worth it, he got to see and experience the world and so did I. It can feel quite claustrophobic if you stay home for every single nap. I did find though that despite being fully independent he was so used to the habit of sleeping his second nap in the car that it was really hard to get him to take that nap at home, almost impossible.
By the time he reached 1yo+ that nap had move later, to lunch time so we were able to go out in the morning instead, and by then he also accepted being transferred from the car to his bed if necessary.