Usually there's a website or Facebook group you can join for kids' activities going on in your area. Here there are a bunch.
I don't drive these days but even before that, I didn't do a lot of excursions with my kids - they played mostly. If you want to do a craft with them, there are so many places you can get ideas and just hit the dollar store for supplies. Mine would paint or glue.
I'd make up a batch of homemade playdough and give them a rolling pin, muffin pans, etc. let her make a bakery. Pretend restaurant, etc. Mine were big on imaginative play.
Dress up - again, dollar store or just your own closet, old Halloween costumes, etc.
Getting together for coffee and kids with friends ..
Forts (we always had a fort on the go). Let her watch a movie in it and give her popcorn, flashlight, etc.
I used to pull out one big toy a day or two for my kids. Something they could play for a few hours. So one day would be Little People toys/village, etc. Put it away and bring out something fresh the next day.
Teddy Bear picnic. Just throw an old blanket down and have lunch on it.
Mine were just happy to come out with us to do errands. We would hit a donut shop on way home as treat - hot chocolate.
Lots of ideas for excursions below if you want to get out of the house. My kids loved those too.