I find driving incredibly relaxing. It requires just enough focus to get me into a zen like state, but not enough that it ever gets taxing except under unusual circumstances. Sometimes if I'm really stressed, I'll hop behind the wheel and drive for an hour or two in some random direction, then come back and feel totally relaxed.
But, right now my car is in the shop, and I'm taking the bus, and it's stressful as hell. Buying groceries is either an expensive taxi or a painful ordeal, sleeping in 10 minutes means I'm half an hour late for work, and visiting my friends has to be weighed against the boredom of an hour each way bus trip.
I don't know how anyone could possibly think of driving as boring and stressful. It's right up there with sex, tobacco and whiskey as far as I'm concerned.