For me, sometimes it helps to focus on other senses and just use vision for a specific task, like avoiding the next person on the sidewalk. If you're feeling unmoored a cane can help with that, though there's a lot of resistance around starting to use one for many low vision people. Otherwise you might want to try leaning in a bit and trying to put yourself in those situations more often. It's counterintuititve but you won't get used to it if it's once a month, if you know what I mean.

Canes can be very helpful, but for me personally I did not like them, but I am a big advocate on guide dogs. I have one and he’s changed my life dramatically.

Regarding navigation, I'm partially sighted and, for a long time, didn't even realize that a cane was an option for me. I started using one a couple of months ago and have noticed a huge difference when navigating in public and social situations. Like you, I was getting absolutely exhausted just going out and doing mundane things. Now I can focus my attention a lot farther ahead of me when I walk and worry far less about running into people because I know they can see that I have vision issues. It makes a world of difference, let me tell you. And there are different types of canes, too, so you wouldn't have to get one that's more than you need.

Regarding walking into things and such at home, I found $1 extremely helpful. There's a lot of well-presented information on different types of vision impairments and ways to modify your home and workplace accordingly.

Best of luck. I know how frustrating and tiring it can be. There are tons of work-arounds, though. I think an important and sometimes difficult step is getting it through our skulls that we have a right to use them.