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My friend J. (I think you met her on the 4th of July last year) uses Zipcar regularly and really likes it. She hasn't had trouble getting it when she needs it-- but the thing about errands is that you can semi-plan them for when the car is available, e.g. choose to go grocery shopping on Tuesday instead of Thursday. It does take some of the impulse out of driving somewhere, but you don't have to worry about insurance, parking, and maintenance, all of which can become big headaches very quickly, particularly if you buy a clunker.

For a long trip, I can see rental cars being much more practical, simply because of Zipcar's per diem rate. And now you're old enough to rent a car wherever you want!