He sometimes gets a wild hair when we go on walks and tries to go to the car, but I have not walked him prior with the intention of going to the park afterwords. We will have to try that one. Yes he does pull once out of the car to get in the park. It is not as bad, and he will start to behave for his ball a bit at that point. But it is still something we need to work on.
Most other people just have their dogs off leash from the car to the gate, but I am not comfortable with that. The road is right there and parking is tight so a dog could slip around moving cars too easily.