Depends what you mean about 'venturing out' Nelle.
I am a minimalist. I soon learnt that a heavy nappy bag was a PITA and had it pared down asap. However if it's just to the shops or generally out and about the nappy bag stayed in the car.
If it was a longer day/evening out then generally speaking I had DH to carry the nappy bag.
Otherwise for stuff I knew I'd be out ages I took the pram.