Possible to live without car in US?

I read generally on the internet that apart from few big cities like NY, Boston etc it is not possible in US to survive without a car.

How true is this?

I am planning to move to US on H1B in future.

I am from India. I do not know driving and have some kind of phsychological issue with driving, to simply state - fear of driving.

I am not sure about the location where I will be posted as it will depend on what project I am assigned to.

How difficult is it to survive without a car and depending in public transport mostly in small cities?

Depends on which city you are going to live. New York, SFO answer is YES. Other places probably not.