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Do not be in a rush. Be laid back. If you need to be somewhere on time, leave early so you have more than enough time to get there. And if you are running late, don't worry about it. There's really not much you can do about it now, because the traffic, the stop lights, and the laws of the road are still there. So relax. Drive as if you have all the time in the world. If you are late, at least you will have had a lovely ride. Instead, try listening to the sounds of your car — the engine, the way the tires sound on the road.  Listen to your breathing and your heartbeat. This is an excellent time to learn to enjoy (relative) silence, since in our noisy world it can be hard to find.  Think about why you listen to talk radio or classic rock in the first place. It's probably because it helps distract you from what you're doing, and makes the drive more tolerable. But what's so terrible about what you're doing, that you have to pay attention to something else? This type of listening might even make you better at detecting problems with your car before they become expensive to fix! Feel your belly rise and fall (against the seat belt, of course) with every breath. Count each inhalation and each exhalation, until you get to ten. Start back at one again. This is at the core of Zazen (Zen meditation) and will help keep you calm. Look at your hands on the steering wheel. Are you clenching them? Let go of excess tension. You only need just enough grip to control the wheel — no more, no less. Then direct your attention to your stomach. Is it tense? Soften your belly, then soften your shoulders and consciously let go of tension anywhere else in your body. Take a moment to appreciate that you're in this incredible machine that was specifically designed to make your trip easy. All you have to do is turn a key, hold a wheel, and press your foot. Be grateful that, right now, your car is actually working, not breaking down.  Appreciate that not everyone has a car to drive, instead of taking your car for granted, as if it's a right. Be glad that you can drive on paved, safe roads. Most importantly, be thankful that, at this moment, you're alive and healthy enough to drive.
Take your time. Turn off the radio and other distracting noises. Breathe deeply. Loosen up. Be thankful.