We have a large family and one vehicle. I am unable to drive at this point because of health reasons, so it wasn't so much a decision as an adjustment.
We have a big family and many activities, different schools. It just means instead of two taxis to ferry kids around in you have one. Sometimes we all go together so our whole family is in the van and we catch up as we drop kids off. Or we'll actually all go in and watch a hockey game.
It just means for us that instead of a kid saying "Can you pick me up at 8 pm?" from a friend's house, we might say "We can swing by at 7:20 pm". They have to adjust to the family. Not such a bad thing.
We drive/drop off other kids when it works for us, so that if other parents have to do the same for us, it's no big deal. There's also carpooling.
We schedule the kids' stuff, appointments, etc. all very effectively (second nature now) so we get stuff done at once. It's actually simplified stuff in a lot of ways. One taxi. Multiple stops. Family together ..
It definitely wasn't my choice - but it makes you realize of course you can do it.
I don't miss the gas bill, the maintenance or car payments either.
When I was still working and able to drive, my husband and I drove together so this wasn't such a stretch for us. We'd drop the kids at daycare and do a big loop. Maybe try something like that for a while. Try driving with one car only and see how it goes.
Good luck :)