is the one who lied to you.  SD might have talked with your DH about the lame excuse, but it's your DH who passed that lie to you.  And why couldn't/wouldn't he wait for you to both be free for vacation before leaving?  You driving 2 days by yourself is ridiculous.  Reminds me of the character in "Why Did I Get Married" (can't recall the character's name).  Your DH is a butt. 

My suggestion would be to refuse any future vacations anywhere near your SD home town.  And RENT a vehicle in the area of your vacation.  How did you find out that they were lying about the car?

As for the lie, if you know anything about cars, maybe you could ask some pointed questions to your SD/SSIL about what the car was doing/why it wouldn't start and give some realistic answers, then offer to check it out for him.  LOL!  I'd love to see the looks on their faces when you get in and start it right up.  If you aren't familiar with vehicle mechanics, just let it go, but don't forget this debacle.  Maybe you could talk about how LOOOONNNGGGG of a drive it was to get there and how upsetting it was to hear that you'd then have to drive another 3 LOOOOONNNNGGGG hours to return their car.  Claim that your sciatica is flaring up from sitting in a vehicle for so long, and so sorry that you can't stay longer but you're just so exhausted from all of the driving.  Sounds like father and daughter are cut from the same cloth.

I wouldn't raise any of it with SD. She will love that you're agitated. Best to address it with your husband after the car is returned when you know you won't see SD again. You don't want her getting wind that she's caused a riff.

When you address it with your husband, ask him why he didn't just tell you the truth. When he says he didn't think you'd want to drive another three hours on top of a long drive, ask him why. When he says, (no doubt awkwardly), "Well, that's a lot of driving," that's when you say, "Yea, it was a lot of driving. Thanks for thinking of me, a******. If you had to lie to get me to do it, maybe it was unreasonable to ask me to do it in the first place."

I wouldn't mention the two-person club you're not part of. You can't get ahead of that Daddy's Girl/Daddy secret club and it will just sound petty if you raise it (I know this from experiece -- I am not part of the club either). He will deny it, say you're crazy and jealous, and you'll feel like the fool for competing with his daughter. And you don't really want a role in that dysfunction anyway.

So just address the lie HE told you and the disregard HE had for you and your comfort and don't even mention SD. SD owes you nothing and that's what you get from her and that's sadly what you should expect from her. From him, you deserve more. HE is the one who should rein her in on your behalf and HE didn't.

Every time this happened to me, every time the club made an ass of me, I set a boundary that chipped away at the club. Here's how you do that: And at the end of this unpleasant discussion, casually throw in that the next vacation will be in the opposite direction of SD. And mean it.

When you start to plan next year, if he brings up anywhere near SD, you firmly tell him, "I already told you we're not vacationing near her again because you don't know how to behave around SD."

This is drawing a boundary -- he screwed himself when he pulled this. You gave vacationing near her a chance and it didn't work out, so you have every right to say never again. And feel good saying it. This puts you a little ahead of the club.

I'm sorry this happened...I so know and understand how you feel. Use it to set a new boundary of vacationing away from SD. That's how you start to get ahead of this BS.

Disconnect the spark plugs in your car and tell your DH it's broken. I doubt your SD would make the sacrifice of coming to fetch you and take you home afterwards.

What disgusting behaviour on your DH's behalf? How manipulative. 

Like others have said, I'd tell him to take a long walk off a short bridge and move on with my life. I don't do well with lies, especially manipulative, sneaky lies like this. I mean, really, what else does he lie about if he's so comfortable to lie over something like this. It would be over. 

Why have you stayed with a man who treats you like this for 17 years?

It's painful to read what a doormat you are to DH and SD, driving 2 days plus 3 more hours for their convenience.  You do realize that you've consented to all of this right?  I couldn't imagine a more miserable vacation than the one you're describing.  Next time stay home or fly to a destination of your choice while DH and sd yuck it up.  

About knowing that they lied, I'd keep that little tid bit to myself and make sure i was never put in that situation again. If you bring it up you'll just be gaslighted and it will be another reason for dh and sd to rally against you.  

I'm curious how SD's husband feels about being part of this little charade.  Does he even know?

If you ask him why DH misled you he will only come back with another lie.  It gives him the opportunity to gaslight.  My DH does this and I have found that the only way to deal with a liar is to let them know you will never believe them.  DH when trying to gaslight me, "I may have not come up to sit with you at the meeting but I moved to a seat right behind you."  Me: "I didn't see you there."  DH: "Oh, but I WAS there", trying to make me question myself.  Me:  "No you weren't and I will never be convinced you were.  But next time it happens be prepared because I am going to openly call you out in front of everybody."

This is a Rags approach, "Bare their a$$es and let them burn", and it works.

Also, don't allow them to even think they had caused you any pain or discomfort.  They really don't care.  Your real problem is DH.  He needs to know that next time he and SD REALLY need something they might not be able to depend on you because you don't think you can physically do it again.  As others suggested, no more vacations with SD.  Period.

...it was malicious and cruel.  He showed no concern for her.  She stayed back to work, drove alone for 2 days then faced this!  I agree that she should not go to see SD and should seriously consider going home.