Pre-package formula into small ziplock bags, so it is ready to go. Keep a few extra packages in the diaper bag for those just in case times.
For babies, pre-package a serving of oatmeal into small ziplock bags. Keep a few extra packages in the diaper bag for those just in case times, that way you have something to feed your baby besides a bottle.
Keep extra diapers and wipes in the car. Make sure to change out the sizes when your little one change sizes!
If formula feeding a baby, prepare bottles before you go to bed. That way all you have to do is heat them up for those middle of the night feedings.
If breastfeeding, have your support pillow ready next to you, and if you can your baby too!