Which Nraas mod do I use so my sims can select from a menu when going to lots instead of immediately going into town view? I hate that feature, especially when I want to do something like buy groceries or books and just want her to leave and come back without following her there or spending five minutes in town view trying to find the lot?

NRaas' Go Here has custom interactions for going to Rabbitholes, venues, etc.
Or if your sim doesn't want to leave home or just prefers to do things from the Smart Phone JunJayMdM's On Line Center should do the trick