Staycation ideas with newborn

I’d like to plan a staycation with my husband and baby girl, there’s so many new things to consider with a newborn so would like any ideas or suggestions of where to go and what to do… We are based in London and would travel anywhere between 2-3 hours drive, we’ll be going for about 3/4 days and would like to do something a little more exciting than walks around parks although I struggle to find anything else with her being so young so would love to see some recommendations 😩😅 Baby will be between 2 and 3 months by the time we are able to go