All perfect praise be to Allah, The Lord of the Worlds. I testify that there is none worthy of worship except Allah and that Muhammad is His slave and Messenger.
In principle, it is not permissible for your wife to go out of home except with your permission, but if she goes out because she knows that you do not object to her going out, then this is permissible. Her knowledge that you do not object is a customary permission from you that serves instead of a verbal authorization.
The customary permission from you that serves instead of a verbal or a real authorization is a famous matter among the scholars and it is something established with them.
Allah knows best.