If you want to leave the driving to someone else and take advantage of the efficient public transportation around the county, you can reach many sites and sights (not all, but many) by travelling by bus and train. 
 
The best way to navigate public transportation in Israel is to download the Moovit app or check out their website. The search combines both bus and train routes, and even adds in cycling options for peddling part of the way, where appropriate. 
 
Founded in Israel in 2012, Moovit has grown from a local company to 400M+ users in 90 countries, according to the company's fact sheet.

 

"Travelling by train in Israel from city to city always feels like a new and exciting adventure."
Quote, Israel:The Sites & Sights
(Photo: Israel:The Sites & Sights)