It may not be practical to give up your car entirely, but you can still take action by reducing your use of your car. For example, instead of driving to the grocery store every other day, make one trip every week or week and a half, stocking up on everything you need all at once.
Carpooling with your neighbors or signing up for a car share program are also great ways to reduce your car use.
Taking a bus or train to work, school or any other activity has a lot of advantages. Taking public transportation is also safer than driving, and will probably help reduce your anxiety level since you won't have to deal with rush hour traffic.