I live in a suburb so I have to drive to many places but I have started to notice that even if I can't walk to the store in less than 20 min it feels a ton less

I live in a suburb so I have to drive to many places but I have started to notice that even if I can't walk to the store in less than 20 min it feels a ton less stressful than driving for 3 and parking for 5. I should probably get a bike as this is the perfect distance for it.