I too hate the crying. We live 35kms from town and every town day I find myself saying, "I HATE TOWN DAYS!!! because at some stage she'll be crying her heart out and there'll be nothing I can do about it because I'm rushing to get from one place to the next before they close. I HATE traffic lights. Sometimes she'll just start to settle from the motion of the car and then we get stopped at traffic lights and she arcs up again.
I talk to her or active listen her as best I can. As soon as I'm able to, I stop and do her nappy and/or feed her and make sure she's not too hot or too cold. Sometimes that does the trick. Sometimes she is ready for sleep and because she is used to going to sleep in my arms it just doesn't help at all and she ends up crying herself to sleep which breaks my heart.
With my other two girls we found they had "magic songs" that worked every time. DD1's song was "This old man" and DD2's was "Old MacDonald". Didn't matter how hard they were crying, as soon as we started singing those songs it would stop. (Almost always, anyway.)