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OP here. Sorry for not responding for awhile. Thanks for the helpful posts, much appreciated. I read all of them. To add a bit more detail, I'm 33 y/o and live in a small/medium town. The city has been spending a lot of money on improving cycling routes the last decade and continuing to do so. There's a cycling path that runs all the way from the south end, thru downtown and to the north end. You don't even need to ride on the shoulder of the road unless you're going east or west on a side road.
I know ideally, the best decision is to keep the car and get a used bike. I've spoken to my family about it and they think the same. But... I the grocery store is a 17 minute walk away. I really only occasionally haul things like twice a year and my mom has a truck at her place she can let me borrow if I need it. I'm honestly just sick of driving too. People drive like shit here. I get my ass ridden even going 10km/hr over the speed limit on main roads. I'm sick of it, really. It's stressful.
Regarding used bikes, I have been looking. But the market isn't great. For one I have an uncommon build. I'm 6'0 tall but my inseam is 29". The vast majority of used bikes I've seen have L/XL frames and they feel like shit, can barely get my tip-toes on the ground while seated. I'm still looking but I'm more inclined to get a new one. There are least 5 bike shops nearby all with 4.9/5 ratings. I went into one to look around and there was no pressure. Dude showed me a few bikes even though I said I didn't have the money right now. He also said to keep an eye on the used market.
I haven't put the car up for sale yet but I'm probably going to do it. I know it's a big change and there are many good reasons to keep the car. But I just can't afford a $500+ bike while paying $90/mo insurance, $80/we gas on top of other expenses. I know the bike will have maintenance costs of its own too like tires, brakes, something breaks, I get a tire puncture etc.