@raisingeorge,
Talk to your doctor and explain what's going on. Not to get medicated (although that should not be totally off the table), but rather to get a medical clearance for exercise. And then look for yoga classes near you, maybe something you can go to on your lunch hour or for a half hour or so before you start the commute home.
Oh yeah, another thing. When I used to commute on a nasty road, I talked to my boss and we agreed I could come in early and leave early. It was super-early, I might add, as in, I would often walk in the door at 7, 7:30. That's not feasible for everyone (and these days I often wonder how I managed to do that), but it meant my commutes in both directions were super-fast. TIVO anything you want to watch because this schedule also means you go to bed at 9 at the latest, because you have to be up at like 5. I also used to shower the night before, which may or may not work for you. The disadvantages were that I had a dark morning commute unless it was summertime, but going home early often feels like a vacation day. And a one and a half hour commute was cut to something like 35 minutes. Wintry days, though, had icier conditions, so be aware of that. Used to see wild turkeys in the morning, too (I'm in Massachusetts). It's an option if you can do it and if your boss agrees.