I have posted numerous times about how people often get intimidated by the word 'hike'.
In Sedona you can drive to most of the most scenic places and then simply get out of the car and wander. Your wander might be as little as 50 feet or as long as a 1/2 mile, or anything in between. And there is no reason to go any faster or any farther than you feel like going. The views are everywhere. The important thing you must do is give it time.
So if you stop at a view point, get out of the car, walk a few steps to a convenient rock and plant yourself. It beats the heck out of what you would see from a chaise at a pool. Most views are 360 degrees and they are so incredible that you can't take it all in without sitting and watching for a good amount of time. That might be as little as 5 minutes, but it will likely be better if it's more like 25 minutes.
Extended hikes or jeep tours will get you deeper into the back country, but they won't change the peace and calmness and red rock majesty that you can see and experience from the roadside.
If you're getting stressed, Sedona is one place where you can release all of that. Just give it time.