We have attempts at this quite often, AandO. I use guile, bribery and manipulation.
This morning, for example, Wriggle wouldn't go to town because she was a dog. She also wouldn't get dressed because she was fine in just her fur. Various approaches were tried; 'Let's go out and buy dog food', 'Would you like your Mummy Dog to come with us?' (RacingCollie is Mummy today ), etc, until DH left the room and I could use my last resort; 'If you don't get dressed now, I will count to three. 1 ... 2 ...' 'Ooooo Kaaaay, Mummy'. I don't know what she thinks will happen at '3'.
Things only work for a short time, though. Some days stickers work - 'If you can get dressed really quickly I'll give you a sticker; if you get into your car seat quickly you get another one ...'
Other days everything stops if she doesn't get ready and get out of the house quickly; no DVD, no stories, no toys, no conversation from me and no eye contact. (Doesn't work if DH is present as he can't do it.)
I usually have to prepare her well in advance, even the day before, so that she has time to get used to the idea, and if the outing is not that appealing for her, will add something at the end that is, such as a visit to the park, or to a charity shop.
Quite often we take the toy with us. 'You want to play with your lego/dog puzzle/dinosaurs? Let's take them with us and play in the park/cafe/at Ned's house.'
Inside, the teacher that is me is saying, 'She should do it because I say so,' but as you say, the fuss isn't worth it, and DH wouldn't stand screaming and crying.