Hello, you've had some great advice already, so I won't go into chapter & verse, but I just wanted to say that you sound like you are doing a great job. Getting him to nap well at home is a great start.
But, there is no point sacrificing yourself, and your happiness, for perfect naps every day. It's been said before, but what your baby needs is a happy Mum, not a miserable one, so do what you gotta do! If you feel like you need to get out of the house, you really should go. Is there a nap that is more needed than another? I know my lo would be HIDEOUS without his morning nap, so I always stay in for that, but then I can go out afterwards, and, if he gets cranky, so be it. As long as you don't do this every day, it shouldn't mess up your routine too much, and it's worth it for your sanity. The great thing about following BW methods is that, if lo does get a bit cranky and tired, he knows you are there for him, you won't leave him to be upset, and we have the tools in our kit to be able to deal with it, so it's much less stressful for lo than it could be.
BTW, as long as you have your naptime routine pretty much established, I liked the idea of getting him to practice sleeping in the pram at home. Has anyone tried this? I might try it myself b/c I have similar issues, although I must stress, it does get easier as they get older.