People, get detailed maps of your town, county and surrounding counties. Not the run of the mill Rand McNally highway type but those showing all the little nothing back roads. These can be found at tourist centers or town hall or maybe the Chamber of Commerce. They will fit neatly in shoe boxes in your vehicles. Store them in each vehicle and at home. Drive different escape routes with the kids.
IMPORTANT - give your kids permission to disobey authority figures when their guts and common sense tell them to.
A while back, the interstate was jammed, so I took some backroads. Beautiful countryside, farms, vistas, etc. Realized that before the big highways there had to be a way to get from place to place (duh). Now I make it a point to take “Sunday drives” to nowhere just to explore all the little byways around and about. Never know what you’ll find or when you’ll need that info without a GPS.