Well, I drive, but I get out of it when I can...particularly in the city. The traffic makes me extremely anxious, even as a passenger.
My SO lives in Europe, and though he has a drivers license, he does not have a car. With public transportation, it just isn't necessary. He walks most places, and takes the bus or train when he has to get anywhere not within walking distance. That can still work in larger cities in the US, but for those of us in more rural areas, that isn't really a choice. Hopefully, you have enough support that you can get wherever you need to be