A bugout vehicle does not have to be an MRAP or some Mad Max off road truck. The reality is that your daily driver is going to be your most likely means of getting home or bugging out . Let me say up front that I believe in "Bugging In". However, we all plan for contingencies and the last resort of leaving your home also requires thoughtful preparation.
Having your vehicle ready starts with the basics; maintenance! Make sure your car's drivetrain is well taken care of. Do you have tires that are worn or out of balance? Is that starter battery plagued by dirty cable connections? Is your spare tire more than 5 years old? My last SUV went 13 years and 240,000 miles and along the way needed a wheel bearing and radiator replaced as well as all other normal upkeep.
If your planning is for "getting home" do you constantly let your gas tank run low? How about keeping spare clothes, jacket, a small pack and comfortable walking shoes in the trunk? Basics such as a flashlight, multi-tool or knife, first aid and water are definitely needed and they are inexpensive too.
I often strike out on week+ expeditions in the mountains and deserts of the western states so I've developed a vehicle and trailer setup that meets my camping needs and will serve well for bug-out if ever needed. It consists of a Toyota SUV (modified) and a very capable offroad trailer.