(rather than living seat-of-your-pants all the time)
My life changed when I got given a hand-me-down crock pot aka a slow cooker. Probably 2/3 days a week, I throw ingredients for a meal in there in that early morning mellow time. I always cook at least enough for two meals, so on some of the other days, I'm a 15 minute girl, when I look in the freezer and grabbed something I cooked a week or two ago.
I have a special grab it now rucksack, which contains all the basics that people I go on trips with might want (e.g. biscuits, entertainment and some cash). Then if it's time to go RIGHT NOW, I just grab the bag. This piece of preparation was a once off, 6 months or more ago. I just stick another bottle of water in if the old one is empty when I get home, or whatever. I just added gloves today brrrr.