My 6 year old had a non-emergent but fairly urgent and upsetting medical situation. I actually consciously thought while getting ready about how if I didn't have the car we would call a cab and it would be fine. But since I have the car, and it is insured for two more days, just getting in it felt like the responsible thing to do, and also the thing that gave me a secure feeling.
So we drove. Took her to the clinic, she was treated, came back home, all is well. The car sure gets you from point A to point B fastest and with little effort. I surprisingly felt less confident driving, less spatially aware, on the way there. By the way back it was old hat again.
Had I needed to take a cab, it would have come within 5 minutes to my front door and would have cost $20 to/from the clinic nearby, or probably $30 to the urgent care, where I prefer the treatment, find shorter wait times, and like to go. It would be doable. I didn't do it this time, but we could and would if we were carfree. Frankly I prefer privacy and not dealing with others or worrying about wrangling carseats into a cab (honestly I would skip the carseats probably, it is legal to go in taxis without them here). But it's a rare situation and we would manage.