Then you can take a vehicle to a Rim Jobs shop to work on a vehicle (customize, upgrade) and save the vehicle data for you to load later.
This will let you drive that vehicle later. While you’re in a vehicle “Save” it by pressing the down key / down button on the Directional-Pad of your controller. How to save vehicles into your garage?: Complete “The Fundamentals” mission for Kinzie to unlock the “Hack – Vehicle Delivery” ability to get vehicles you’ve unlocked.