Where to live with Driving Anxiety?

For those with driving anxiety and don't intend to learn, at least right now where do you live? I currently live in NYC and do not drive at all. I actually would probably want to leave one day however I don't know how I would navigate in a non walkable city. I visited a friend in Texas once and you couldn't get anywhere without hopping in a car, it was so frustrating lol. I know I would probably have to learn eventually but would also like to know some other places, people live and feel like they're able to move about easily without a car.