Cheap way to power the home directly is to get a generator inlet put in ($500-1000) and connect the vehicle to that. You can then use either a vehicle or a gas generator, which is useful during extended outages when you need to top up the car.

Expensive way is to get some manufacturer specific automatic transfer switch (I got Tesla's put in). The hardware is $2500 and the labor is $4K+.

I did both and used both during a recent week long outage.