Realistically you're probably not going to go out much in the first 4 to 6 weeks, and by about 4 months old babies are quite alert when you go places and want to be part of the action. That means there's only two or three months inbetween those ages where being able to remove a sleeping baby, capsule and all, is an advantage. And you may find it's such a strain on your back doing so - especially if you have the capsule in the centre of the back seat, which is the safest position - that you won't bother.
This has not been my experience at all LOL I must have been a social butterfly - cos I was never home and the travel system was a godsend. DS is 5 months and 8.1kg (so fat LOL) and still in his capsule - easy to lift in and out from centre posie.