As many has suggested it, Trigger is good, but they update and tweak too often for my taste. Each update may disable some functions. If Trigger stays stable then it would be the top choice. Llama is good too.
Another suggestion is removable NFC tag. I saw somewhere on Kickstarter, something called "nfcTack" It uses suction tape instead of permanent adhesive tape, so it can be removed with out residue and is reusable. I just don't like permanent stickers in my car. I don't like hiding stickers under dash either.
I'm coming to the realization that an NFC tag is probably what I need to accomplish my goal with the least hassle. Trigger has dual function NFC tags so it will toggle the tasks each time the phone is touched to the tag. That means when I enter my vehicle, touch my phone to the tag to turn off WiFi, turn on bluetooth and data, and when I exit the vehicle, I touch phone to the tag to turn off bluetooth and data and turn on WiFi. This kind of defeats my goal of having everything automated though. And I have to remove the phone from my pocket when I enter the vehicle. First world problem, I know.
The other issue is spending the $8-$10 on the NFC tags. I really only need one and if they don't work or I don't like needing to touch the tag, I'm out the money.
AutoMateIt will perform tasks and it has a location based service included. I might try that next.
Another option is to put the power widget on my home screen and manually turn things on/off.