I hear you!! My husband doesn't drive at all. He has a visual problem and he cannot. When I was working I actually had to leave work to take my husband to the doctors once -- explain that at the water cooler, and watch the looks on the single people's faces. :-)
I completely understand the "not wanting to drop anything" because you can do it, and you love them and want to make them happy. Obviously you can do it, you are doing it.
The problem is that your husband doesn't really understand your postion, and you don't understand his. 4 hours in the car, is a lot -- however, 4 hours on I-70 in the middle of Kansas, is nothing to 4 hours on I-95 between Baltimore and DC.
I think you really only have two choices -- accept things the way they are for now; or a different organizational system. Husband could make lunches for you and the kids the night before? He could possibly pack "dinners" for the boys on football night and your daughter on dance night. [I love my crock pot!! Throw it on in the morning and it is there when I get home -- nothing is easier. ]
I find when my husband is away I can do everything, but on my schedule -- the dogs get fed after the kids are in bed. The kids go to their rooms right after dinner, because I want the house to my self. Since my husband bascially walks in the door for dinner or after dinner, he likes to spend time with the kids and put them to bed, which is great, but then everything ends up later. He also thinks the dogs have to be fed right after we eat, so we end up trying to feed the dogs, clean the kitchen, spend time with the kids, prepare for tomorrow, and get ready for bed all at the same time, in a very disorganized fashion. He and I don't run things the same way, and we have never really talked about it since our second child came along, we just fake it. I plan can help! It might be worth a try --- not a "I want you to understand how I feel" but a "what needs done and how can we best do it together as a team." Does that make sense?