I don't usually carry a gun while in my house, unless I am expecting a visitor who is not well known to me, such as a tradesman, or on rare occasion, a person coming to buy something from me. And on a few occasions I have been lounging around the house, unarmed, and not planning on leaving, when something comes up and I need to run out on an errand, such as picking up something my wife needs for the preparation of dinner that night, and I forget to put a gun in my pocket. But I would never routinely leave a gun in any of my vehicles as the risk of theft is too great.
FWIW, since I added a Ruger LCP2, in 22LR, to my safe, I sometimes put this little gun in its Desantis pocket holster, right into my right front pants pocket even if I have no firm plans to leave the house. It is so small, and loaded with 10 rounds of CCI Stingers, that it is not a bother to have in the pocket even of lightweight shorts. Yes, I know 22LR is not ideal, but I feel comfortable having that gun with me as a "just in case".