Another point, I stopped looking for parking spots where I go. I park 1-2 miles before and walk the rest. It actually saves time.
Personally, it's hard for me to imagine not having a car, much less not having a driver's license, because so many things I do are utterly dependent on driving even if I both worked and lived in a city (neither of which is the case). I need a car to transport my boating equipment. I just booked a getaway that is utterly dependent on a rental car when I get there. I've had jobs that I would not have been able to do were I not able to drive to job sites, etc.
But you basically adapt to what you can do if you don't have a car. You do more stuff around the city and less out in the woods. Maybe you don't take vacations that require driving. Etc. For my part, there are places that require high-clearance 4WD and knowing how to use it. I just don't do those things.
Not without a driver's license you won't... ;-)
Edit: quick google search says some companies might refuse you, but you should be able to pay $15 or so extra per day to get full liability and comprehensive coverage if you have no insurance of your own already. And check your credit card because some of them have limited built-in coverage you can leverage.
But I do like being able to get away for weekends, go to national parks and wilderness areas on vacation, etc. (And I like living in at least the semi-country which wouldn't be possible without a car.)
However, knowing lots of urban folks, having to rent a car (when everyone else is also wanting to rent a car) for weekends can be a PITA, especially if said car requires special racks and the like for sport equipment.
Of course, when traveling by air for vacation, renting a car is perfectly normal which is what I do.