10 week old gets fussy chilling at home but great on adventures outside house-anyone else?

My 10 week old has us going out on day long adventures almost daily. This would be great but I’m pretty tired a lot of the time bc he’s not a great sleeper in the evening (max 3 hour stretches, usually 2). But if I wake up tired and just want a day at home he fusses most wake windows. But if we drive an hour, wear him on a hike and make a day of things, he’s content and rarely cries and is usually really well behaved that evening. It’s got to the point we can’t have a chill day at home as it’s just more exhausting than rallying to a hike after a night of bad sleep etc.

I know this isn’t sustainable but he really seems to need it be on the move in cars or his stroller or being carried. Idk what I’m looking for here, we do tummy time and bouncers and stuff at home but he lasts like ten min before he’s fussing. Any tips or advice or even wondering if any other babies are like this.