You can still do it. It will just take more planning and require more stops. Drive 2 hours, stop 20 minutes to stretch/feed/diaper change then repeat until you get where you want to go. Then LOTS of floor time/free play after road trip day
My partner and I were the same, but we’ve found so long as we spend about an hour and a half or so wherever we’re going and make sure she’s got lots to keep her interested (usually a walk followed by a coffee shop or cafe) she’s usually pretty happy and will just sleep on the way home. Then we give her loads of time to roll about her play mat when we get home to stretch out.
Plan it more like a road trip, so pick a destination but stop half way for a walk or a coffee :) visiting new places will be exciting/stimulating. You can always sing to her and things as well!