Where I live a car is almost essential, crappy public transport and a spread out city makes a car much more relevant.
Even if things were better I still would drive, I vastly prefer the freedom to go anywhere at anytime without relying on anyone or anything. That I think is the major benefit of owning a car. I still walk heaps, but if its going to take 1 hr to walk, then the car takes the win.
I also love cars, its my obsession. Fixing, fiddling, modifying, and driving is one of my things. Kinda makes the question a moot point for me
Don't be afraid of driving, once you master the skills you will wonder how you managed without.