Everyone was born with nothing but a naked body. We neither belong to the past nor the future. What we can have is the present moment. After remembering this, we can release to take a break at the time we feel exhausted. While this does not mean we should waste too much time on the meaningless things.
Day after day, it goes as everything performs well. As a matter of fact, years later, you find some friends have realised self sufficiency and while others, just like you, doing a modest job. At your best, you are at the mid class level. You do not care too much of the bad situation that you may have no room to rest, at least, you own a apartment. While you also suffer from anxieties. You have to pay off the installment for your house, afford kids for education, and pray that you are well in health. Any of a sudden terrible disease will destroy your family. As the backbone, you fear of everything which would be possibly happening.
The moment you now enjoy is the best. Actually, even it is going to be worse, we have to accept. We cannot have it better. We are just ordinary people.
Now you have parents, wife, kids and some friends. That is enough. Do not expect too much. All things around you are the precious treasure. Do not let it go. Seize it at your hands. Before you are too old to walk, you have to act as a warrior and traveler. You work for living and meet for people around you.
So, when you feel it a must to visit some people, just go for that guy. When you are eager to trip, just buy a ticket and book a hotel, by arranging everything else, get started.
Most of the time we are self caged by our restrained cognition. We have to cut it and pave the way to a new land. Where we can fully recognize ourselves. What you are worrying is the lack of the confidence to conquer everything unexpected ahead of you.