Babies 12 months apart feeling guilty

I have a 10 month old and 22 month old which was so hard at first but thankfully things are starting to get easier! I do however get so much mom guilt from not getting them out of the house as much as I probably should. It’s so hard at this age! My oldest is walking, running around and exploring while my youngest is only crawling and in the puts everything in his mouth phase. All the parks nearby have wood chips so obviously I can’t leave my little one on the ground I basically have to be carrying him the whole time while my toddler plays. And no he will not sit in a stroller 😂. He doesn’t even want me holding him he needs to be let free.

This is why our home is the safest place for all of us in my head lol. We live in a townhome so no backyard which sucks. But even taking them to the store is a disaster because my little one refuses to sit anywhere still for longer than 5 minutes. Should I be feeling guilty? I have this idea in my head that when they are both walking strong things will be way easier (probably in like 4-6 months).