A few thoughts.
Until I transferred to the east coast, I owned a restored '56 CJ5. On weekends I'd take it on and off trail in the Black Hills and Bear Lodge mountains.
As far as I know, no one ever noticed my concealed carry handgun, possibly because I carried my Winchester Big Bore 94 in .375 Winchester in a dash mounted rifle rack. That was far more obvious, and was equally obviously not constituting a threat just sitting there in the rack.
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Security in a soft top jeep is non existent, so I modified the rear seat so that it sat on the tilt up lip of a steel lock box that could be used to store anything I didn't want stolen when I wasn't in the vehicle. It was the full length of the rear seat and bed, so it was roomy, and it wasn't an obvious lock box, which added more security.
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How well you are able to draw a concealed pistol on your waist while you are in a vehicle depends on a lot of factors, including your build, the holster, the location on your hip, the firearm and the mechanics of the seat and seat belt in your particular vehicle.
If you can't draw your concealed carry handgun, then you might want to consider some other type of concealed carry arrangement or discreet in vehicle holster.
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Generally speaking I like to remind people that a handgun should never be their first response in a situation like a car jacking. If you're in a sketchy neighborhood where you're worried about that, leave 8 feet or so of space in front of you and avoid any middle lanes, so that you have the ability to drive your way out of trouble by either going to the right or the left of any cars in front of you.
Remember that you've got 4000-5000 pounds of vehicle that can be used not just to get you out of trouble, but also run over or crush an assailant. It just takes a little situational awareness and positioning.
The open nature of a jeep leaves you more exposed, but it also increases your SA, so it's mostly a wash.
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"Brandishing" laws are often a bit ambiguous, and in some jurisdictions all that's needed is an accusation to result in an arrest.
On the plus side however, if you don't look like a dirtbag, don't display behaviors that lend credence to the accusation, and there's a reasonable alternative explanation for what the accuser may have seen, or an obvious reason the accuser may have made it up, officer discretion would probably be used and it'll stop well short of an arrest.
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