If you're permitted to carry, then you're okay in your scenario, otherwise, how are you going to have time to access your firearm and load it, even if your mags are loaded and in the same bag? The law says your gear can't be accessible to the driver of passengers, and not in the glove box or console.
Because that's federal law, not state law. It's legal to have your loaded gun in the passenger compartment in many states, included being loaded even without a permit. Some allow OC with no permit as well.PA,VA do as an example. I'd have to check WV and DE. As I said, you only need to comply with FOPA if the state you're in has more stringent laws than your origin and destination state. Many states allow passenger compartment carry. The gun doesn't do you much good locked in the trunk if it doesn't legally have to be.
Why not have your firearm available any place it's legal to do so?
The MD AG has issued an opinion stating that if both your origin and destination are both in MD, FOPA does not apply. But additionally if a state you are driving into allows unlicensed carry in the passenger compartment like PA or VA, then you also don't need to comply with FOPA either. Opinion attached.