So you are allowed to go out. Yes I know you want him to come along. But it is not as if he does not let you go out. If your husband never said anything like that, then why do you make it seem like he did.
In your first post you said that you have to beg to go anywhere. And now you say this.
Contradictions in every single thread of yours.
I am not being mean or heartless. But the fact is that you are not a seedhi saadhi meskeen woman. You know how to stick up for yourself. And your husband takes your side too. And you know that if you really want to go out, then noboy will stop you.
So instead of sobbing about how helpless you are, give yourself a huge kick under the butt and just go out.