If you have one garage you can get to it quickly using "quick trip" option available in the garage manager. Select from a list (or map) the appropriate garage and click on the button in the lower right corner. You will be transferred automatically. If you have more garages this option enables you to travel fast between them. Remember that quick trip is not a teleportation and although it is only a moment for you, the game time goes as usual (at least it does not cost a thing).