Within the XY folks, there is a missing branch. That branch contains the realization that planning is involved in any 'impromptu' trip with kids.
Sure you can wake up in the morning and decide to go on a long bike ride with your kid. It can be done. However, unless your kid doesn't have any kid-like tendencies of having food preferences and advance notice of anything, you're best bet for a smooth morning is to plan ahead. That means making sure you have snacks and maybe lunches ready. That means making sure the bikes are ready and helmets are found.
That is why I'm up in the morning, collecting picnic blankets, swim suits, towels, making dough for lunch calzones and ranting about how you need to make plans.