"Let's discuss options for just one scenario."

In keeping in your scenario, we would stay with the 4x4 Yukon as long as possible, streets be optional. Yards, sidewalks, parks, medians would be used for egress if needed.

Her bag Glock 17, Kel-Tec 9mm folding carbine, uses Glock 17 Mags, Springfield M6 .22/.410
My bag Glock 17, Kel-Tec SU-16C folding 5.56mm carbine, Ruger 10/22 folding stock.
Long guns hidden in our packs, with reasonably fast access.

There is a firearm bag for the vehicle with additional options, situation dependent.