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You need an empty table beside your door. Before you go out, prepare everything and place what you need on that table so that when you want to leave soon, you can just take everything from the table and leave. You don't have to go rush to find keys, bag, other things immediately before. You can prepare the table the night before or 2-3 hours before. Just don't do less than 15 minutes before.
For your changing, you can put clothes you want to go out wearing on hooks behind your bedroom door. So you can just change quickly in less than 5 minutes instead of searching the closet and drawers. If you want to prepare a lot, just use more than 1 hook to set up 3 or more days of clothes.
So everything is prepared a long time ago and you can get everything immediately to go out. No fuss.
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