This was way too dramatic to just be "getting rid of it." This was hatred at the psycho level, and I'm betting it was a message to the father of the baby, too.
She is 22 years old, so it was obvious she could drive. The place where she tortured the newborn and where she lived were very close, and in the same town.
The road wasn't main street, but a back road that can be very dark. It just so happened that when she lit the baby on fire, another couple pulled up in their car and asked what she was doing.
Yes, a better "plan" (if we can call this evil that), would have been to truck herself and her newborn 1/2 mile into the nearby forest and murder the child there. Perhaps she couldn't be bothered with that?