Hard time with toddler

I’m not sure if "frustrated" is the right word, but here's the situation I’m facing: I make a conscious effort to take my toddler and baby out regularly, ensuring we do enjoyable activities like going to parks, playgrounds, the library, playgroups, soft play, and more, while also balancing time at home to read and play. However, whenever we’re out, my toddler tends to disengage—she often asks to go home or cries for no apparent reason. Once we return home, she either wants to go back out or insists on being with her dad. It feels like she’s never content when she’s with me. This has started to really weigh on me, and I’m finding it hard to enjoy our time together at home. Despite trying different activities, like swimming, nothing seems to make a difference. She’s consistently unhappy, and on a few occasions, I’ve even cut outings short. I’ve spoken with her nursery, and they don’t have any issues with her behavior; she seems happy there. I’m feeling stuck and would really appreciate any advice. I’m doing my best to ensure my kids have fun, enriching days, but it often feels like it ends in frustration and disappointment, which is starting to really affect my confidence and enjoyment as a parent.