I find getting lost quite liberating. I have seen so many quiet backwaters in towns and lovely countryside , it makes it all worth while.
The main thing to do to reduce travel anxiety is allow yourself plenty of time to get lost, make mistakes, have difficulty finding a parking spot. If you arrive at your destination an hour early , so what? You can go and have a quiet coffee or wander around the area finding odd backwaters and interesting buildings.
Is there such a thing as delicious ready meals?