Awww, we don't go out unless we have to. Of course I do not have to transfer Jim, he rolls on his own. Maybe it's time to look into a ramp for the van and have Craig use his power chair. This will not only help you, but keep him from exhausting himself.
Call your local senior/disability services to see if they know of any grants to get you a ramp. NMSS is a good place as well. They gave $2000 toward Jim's wheelchair ramp in the house.
I wish you were close. I have two sets of ramps and would lend you one until you could get someone to help you.