It depends on the cat's personality. If you take her and she's gets nervous, just take her back home.
I used to take Banshee in the car often and she was always fine. She had her picture taken with Santa Paws and she was a purrfect little lady. When I was in college and had to take a Public Speaking course, one of our speeches was a "how-to" speech, where we had to explain how to do something.
My topic was "How to Groom a Cat" and Banshee and I went over to class (and I should add that this was a 40-minute car ride each way). I took her into the class in her carrier, but took her right out of the carrier and she curled up on my desk and watched the other students without a peep. When it was our turn, Banshee did her part without a hitch. I had her grooming tools and I'd position her to comb her belly, her neck, her tail, etc. I had treats with me and, after we were done, I gave her a few treats. We went back to my desk and she was fine. (And Banshee and I received an A!)
One of the students did a presentation on how to change a battery in his car. Well, we all had to go outside and watch. I wrapped Banshee in her blankie and she was content to be in my arms the whole time.
The only incident was when a student came over to me, after class, and cooed over Banshee. Banshee didn't like to be held by anybody but me. I told the girl that. I told her not to try to pick her up. The girl said, "Oh, she'll be fine!" She tried to pick her up and Banshee slapped her right across her face. She was a little taken aback, but OK. I tried to tell her. (Our Queen B was good with face slaps....any time we did something she didn't approve of? She'd slap us right across the face. And it hurt. She only did it to me once. I hissed at her and said No. Her ears went back and she wasn't happy about it, but she never slapped me again.)
I would have never been able to do that with any of our other cats. No way. They simply don't have the attitude and personality that Banshee did. They would have never tolerated any of it.